diff --git a/doc/mjwarp/index.rst b/doc/mjwarp/index.rst
index ba0dd380..9e74630c 100644
--- a/doc/mjwarp/index.rst
+++ b/doc/mjwarp/index.rst
@@ -28,6 +28,15 @@ MJWarp is developed and maintained as a joint effort by `NVIDIA <https://nvidia.
    - MJWarp is mostly feature complete but requires performance optimization, documentation, and testing.
    - The intended audience during Beta are physics engine enthusiasts and learning framework integrators.
 
+.. _MJW_tutorial:
+
+Tutorial notebook
+=================
+
+The MJWarp basics are covered in a
+`tutorial
+notebook <https://colab.research.google.com/github/google-deepmind/mujoco_warp/blob/main/notebooks/tutorial.ipynb>`__.
+
 .. _MJW_install:
 
 Installation