diff --git a/README.md b/README.md
index 7ce14c2d..06c5f29d 100644
--- a/README.md
+++ b/README.md
@@ -41,7 +41,7 @@ release can be found in the [changelog] in the latest branch.
 There are two easy ways to get started with MuJoCo:
 
 1. **Run `simulate` on your machine.**
-[This video](https://www.youtube.com/watch?v=0ORsj_E17B0) shows a screen capture
+[This video](https://www.youtube.com/watch?v=P83tKA1iz2Y) shows a screen capture
 of `simulate`, MuJoCo's native interactive viewer. Follow the steps described in
 the [Getting Started] section of the documentation to get `simulate` running on
 your machine.
diff --git a/doc/changelog.rst b/doc/changelog.rst
index babd164c..ff007373 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -32,6 +32,18 @@ MJX
 8. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
 9. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
 
+
+.. youtube:: P83tKA1iz2Y
+   :align: right
+   :width: 360px
+
+Simulate
+^^^^^^^^
+10. Added improved tutorial video.
+11. Improved the Brownian noise generator.
+
+|br| |br| |br| |br|
+
 Version 3.1.6 (Jun 3, 2024)
 ---------------------------
 
diff --git a/doc/programming/samples.rst b/doc/programming/samples.rst
index 92987a49..40cbd434 100644
--- a/doc/programming/samples.rst
+++ b/doc/programming/samples.rst
@@ -84,7 +84,7 @@ data plots. The model file can be specified as a command-line argument, or loade
 functionality. This code sample uses the native UI to render various controls, and provides an
 illustration of how the new UI framework is intended to be used. Below is a screen-capture of ``simulate`` in action:
 
-..  youtube:: 0ORsj_E17B0
+..  youtube:: P83tKA1iz2Y
     :width: 95%
     :align: center
 
@@ -94,7 +94,7 @@ selected object by holding Ctrl and dragging the mouse. Dragging the mouse alone
 are keyboard shortcuts for pausing the simulation, resetting, and re-loading the model file. The latter functionality is
 very useful while editing the model in an XML editor.
 
-The code is quite long yet reasonably commented, so it is best to just read it. Here we provide a high-level overview.
+The code is long yet reasonably commented, so it is best to just read it. Here we provide a high-level overview.
 The ``main()`` function initializes both MuJoCo and GLFW, opens a window, and install GLFW callbacks for mouse and
 keyboard handling. Note that there is no render callback; GLFW puts the user in charge, instead of running a rendering
 loop behind the scenes. The main loop handles UI events and rendering. The simulation is handled in a background