diff --git a/doc/programming/simulation.rst b/doc/programming/simulation.rst
index 3739f548..d0cf5029 100644
--- a/doc/programming/simulation.rst
+++ b/doc/programming/simulation.rst
@@ -913,7 +913,7 @@ elliptic, depending on which solver is selected in ``mjModel.opt``. The function
 can be used to determine which friction cone type is used. For pyramidal cones, the interpretation of the contact force
 (whose address we computed above) is non-trivial, because the components are forces along redundant non-orthogonal axes
 corresponding to the edges of the pyramid. The function :ref:`mj_contactForce` can be
-used to convert the force generated by a given contact into a more intuitive format: a 3D force followed by a 3D toque.
+used to convert the force generated by a given contact into a more intuitive format: a 3D force followed by a 3D torque.
 The torque component will be zero when :at:`condim` is 1 or 3, and non-zero otherwise. This force and torque are
 expressed in the contact frame given by mjContact.frame. Unlike all other matrices in mjData, this matrix is stored in
 transposed form. Normally a 3-by-3 matrix corresponding to a coordinate frame would have the frame axes along the