diff --git a/mkdocs_rt.yml b/mkdocs_rt.yml
index 1a8029f..f40b4c1 100644
--- a/mkdocs_rt.yml
+++ b/mkdocs_rt.yml
@@ -83,6 +83,7 @@ extra:
 
 nav:
   - Getting Started: ./getting_started.md
+  - Motion Commands: ./jogging.md
   - Robot Drivers: ./robot_drivers.md
   # - Writing Nodes: ./writing_nodes.md # TODO
   - Navigation with Nav2:
diff --git a/ros2/jogging.md b/ros2/jogging.md
new file mode 100644
index 0000000..1dff4e9
--- /dev/null
+++ b/ros2/jogging.md
@@ -0,0 +1,45 @@
+# Motion Commands in ROS2
+
+## Quickstart
+
+Sending motion commands is as easy as:
+
+ 1. Launch the ROS2 driver in a terminal:
+    ```{.bash .shell-prompt .copy}
+    ros2 launch stretch_core stretch_driver.launch.py
+    ```
+ 2. Open iPython and type the following code, one line at a time:
+    ```python
+    import hello_helpers.hello_misc as hm
+    node = hm.HelloNode.quick_create('temp')
+    node.move_to_pose({'joint_lift': 0.4}, blocking=True)
+    node.move_to_pose({'joint_wrist_yaw': 0.0, 'joint_wrist_roll': 0.0}, blocking=True)
+    ```
+
+## Writing a node
+
+You can also write a ROS2 node to send motion commands:
+
+```python
+import hello_helpers.hello_misc as hm
+
+class MyNode(hm.HelloNode):
+    def __init__(self):
+        hm.HelloNode.__init__(self)
+
+    def main(self):
+        hm.HelloNode.main(self, 'my_node', 'my_node', wait_for_first_pointcloud=False)
+
+        # my_node's main logic goes here
+        self.move_to_pose({'joint_lift': 0.6}, blocking=True)
+        self.move_to_pose({'joint_wrist_yaw': -1.0, 'joint_wrist_pitch': -1.0}, blocking=True)
+
+node = MyNode()
+node.main()
+```
+
+Copy the above into a file called "example.py" and run it using:
+
+```{.bash .shell-prompt .copy}
+python3 example.py
+```