diff --git a/doc/index.rst b/doc/index.rst
index 485fa9cb..5c1be571 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -14,7 +14,8 @@
    programming/index.rst
    APIreference/index.rst
    python
-   MJX <mjx>
+   MuJoCo XLA <mjx>
+   MuJoCo Warp <mjwarp/index.rst>
    unity
    OpenUSD/index.rst
    models
diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst
new file mode 100644
index 00000000..a9fedd7d
--- /dev/null
+++ b/doc/mjwarp/index.rst
@@ -0,0 +1,68 @@
+.. _MJW:
+
+====================
+MuJoCo Warp (MJWarp)
+====================
+
+MuJoCo Warp (MJWarp) is an implementation of MuJoCo written in `Warp <https://nvidia.github.io/warp/>`__ and optimized
+for `Nvidia <https://nvidia.com>`__ GPUs. MJWarp lives in the
+`google-deepmind/mujoco_warp <https://github.com/google-deepmind/mujoco_warp>`__ GitHub repository and is currently in
+beta.
+
+.. _MJW_getstarted:
+
+Getting Started
+===============
+
+.. code-block:: python
+
+    import mujoco
+    import mujoco_warp as mjw
+
+    mjm = mujoco.MjModel.from_file("example.xml")
+
+    m = mjw.put_model(mjm)
+    d = mjw.make_data(mjm)
+
+    mjw.step(m, d)
+
+.. _MJW_install:
+
+Installation
+============
+
+The beta version of MuJoCo Warp is installed from GitHub. Please note that the beta version of MuJoCo Warp does not
+support all versions of MuJoCo, Warp, CUDA, Nvidia drivers, etc.
+
+.. code-block:: shell
+
+    git clone https://github.com/google-deepmind/mujoco_warp.git
+    cd mujoco_warp
+    python3 -m venv env
+    source env/bin/activate
+    pip install --upgrade pip
+    pip install uv
+    uv pip install -e .[dev,cuda]
+
+Test the Installation
+
+.. code-block:: shell
+
+    pytest
+
+.. _MJW_Cli:
+
+Utilities
+=========
+
+Benchmark an environment with testspeed
+
+.. code-block:: shell
+
+    mjwarp-testspeed benchmark/humanoid/humanoid.xml
+
+Interactive environment simulation with MJWarp
+
+.. code-block:: shell
+
+    mjwarp-viewer benchmark/humanoid/humanoid.xml