diff --git a/docs/readthedocs/tutorials/introduction.md b/docs/readthedocs/tutorials/introduction.md
new file mode 100644
index 0000000000000..2bd6b871b0828
--- /dev/null
+++ b/docs/readthedocs/tutorials/introduction.md
@@ -0,0 +1,7 @@
+The purpose of this tutorial is to provide a quick introduction to
+using DART. We designed many hands-on exercises to make the learning
+effective and fun. To follow along with this tutorial, first locate
+the tutorial code in the directory: dart/tutorials. For each of the
+four tutorials, we provide the skeleton code as the starting point
+(e.g. tutorialMultiPendulum.cpp) and
+the final code as the answer to the tutorial (e.g. tutorialMultiPendulum-Finished.cpp). The examples are based on the APIs of DART 5.0.
diff --git a/mkdocs.yml b/mkdocs.yml
index ccfd4468d0bb4..e41608ab478cc 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -11,3 +11,10 @@ theme: readthedocs
 docs_dir: docs/readthedocs
 site_dir: docs/readthedocs/site
 
+pages:
+- Home: 'index.md'
+- Tutorials:
+    - 'Introduction': 'tutorials/introduction.md'
+    - 'Pendulum': 'tutorials/multi-pendulum.md'
+    - 'Manipulator': 'tutorials/dominoes.md'
+    - 'Biped': 'tutorials/biped.md'
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