diff --git a/doc/includes/references.h b/doc/includes/references.h
index 553560ec..3bf172a4 100644
--- a/doc/includes/references.h
+++ b/doc/includes/references.h
@@ -1626,7 +1626,7 @@ typedef enum mjtVisFlag_ {        // flags enabling model element visualization
   mjVIS_PERTOBJ,                  // perturbation object
   mjVIS_CONTACTPOINT,             // contact points
   mjVIS_CONTACTFORCE,             // contact force
-  mjVIS_CONTACTSPLIT,             // split contact force into normal and tanget
+  mjVIS_CONTACTSPLIT,             // split contact force into normal and tangent
   mjVIS_TRANSPARENT,              // make dynamic geoms more transparent
   mjVIS_AUTOCONNECT,              // auto connect joints and body coms
   mjVIS_COM,                      // center of mass
diff --git a/include/mujoco/mjvisualize.h b/include/mujoco/mjvisualize.h
index 787c4fee..6b72b2af 100644
--- a/include/mujoco/mjvisualize.h
+++ b/include/mujoco/mjvisualize.h
@@ -113,7 +113,7 @@ typedef enum mjtVisFlag_ {        // flags enabling model element visualization
   mjVIS_PERTOBJ,                  // perturbation object
   mjVIS_CONTACTPOINT,             // contact points
   mjVIS_CONTACTFORCE,             // contact force
-  mjVIS_CONTACTSPLIT,             // split contact force into normal and tanget
+  mjVIS_CONTACTSPLIT,             // split contact force into normal and tangent
   mjVIS_TRANSPARENT,              // make dynamic geoms more transparent
   mjVIS_AUTOCONNECT,              // auto connect joints and body coms
   mjVIS_COM,                      // center of mass