diff --git a/teleoperating_stretch.md b/teleoperating_stretch.md
index 499df9b..e2a7f92 100644
--- a/teleoperating_stretch.md
+++ b/teleoperating_stretch.md
@@ -1,12 +1,11 @@
 ## Teleoperating in Gazebo
 
-### Keyboard Teloperation
-First, [Startup Stretch in simulation](gazebo_basics.md). Then type the following the command for teleoperating a Stretch robot's mobile base with the keyboard.
+First, [startup Stretch in simulation](gazebo_basics.md). Then type the following the command for teleoperating a Stretch robot's mobile base with the keyboard.
 
 ```
 roslaunch stretch_gazebo teleop_keyboard.launch
 ```
-Below is the keyboard commands that allow a user to move Stretch in gazebo.  
+Below is the keyboard commands that allow a user to move Stretch.  
 ```
 Reading from the keyboard  and Publishing to Twist!
 ---------------------------
@@ -36,4 +35,40 @@ currently:	speed 0.5	turn 1.0
 
 ```
 
+The keyboard teleop node remaps the *cmd_vel* topics to */stretch_diff_drive_controller/cmd_vel*, which the robot takes velocity commands from.
+
+An alternative for robot base teleoperation is to use an xbox controller. Connect the xbox controller device to your local machine either through cable or dongle and run the following command.
+
+```
+roslaunch stretch_gazebo teleop_joy.launch
+```
+Note that the teleop_twist_joy package has a deadman switch by default which disables the drive commands to be published unless it is being pressed. For an Logitech F310 joystick this button is A.
+
 ## Teleoperating the Actual Robot
+
+![image](images/xbox_controller_commands.png)
+
+Stretch comes ready to run out of the box. The Xbox Teleoperation demo will let you quickly test out the robot capabilities by teleoperating it with an Xbox Controller.
+
+
+Note: Make sure the USB Dongle is plugged into the the USB port of the base trunk.
+
+To start the demo:
+
+* Remove the 'trunk' cover and power on the robot
+Wait for about 45 seconds. You will hear the Ubuntu startup sound, followed by two beeps (indicating the demo is running).
+* Hit the Connect button on the controller. The upper two LEDs of the ring will illuminate.
+* Hit the Home Robot button. Stretch will go through its homing calibration routine.
+* **Note**: make sure the space around the robot is clear before running the Home function
+
+You're ready to go! A few things to try:
+
+* Hit the Stow Robot button. The robot will assume the stow pose.
+* Practice driving the robot around.
+* Pull the Fast Base trigger while driving. When stowed, it will make Stretch drive faster
+* Manually stop the arm or lift from moving to make it stop upon contact.
+* Try picking up your cellphone from the floor
+* Try grasping cup from a counter top
+* Try delivering an object to a person
+
+If you're done, hold down the Shutdown PC button for 2 seconds. This will cause the PC to turn off. You can then power down the robot.