diff --git a/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.rst b/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.rst
index e324743c..68f7c30c 100644
--- a/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.rst
+++ b/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.rst
@@ -8,6 +8,7 @@ Collection of packages for controlling the KUKA LBR iiwa / med through ROS 2.
 - ``lbr_fri_msgs``: ``IDL``-equivalent of KUKA's ``nanopb`` message definitions.
 - ``lbr_fri_ros2``: Exposes ``fri`` to ROS 2 topics / services.
 - ``lbr_hardware_interface``: ``ros2_control`` hardware interface for the LBR.
+- ``lbr_moveit_config```: ``MoveIt 2`` configurations for thr LBR.
 - ``fri``: Integration of KUKA's Fast Robot Interface (FRI) into ROS 2 ``ament_cmake`` build system.
 
 Installation
diff --git a/lbr_moveit_config/doc/lbr_moveit_config.rst b/lbr_moveit_config/doc/lbr_moveit_config.rst
new file mode 100644
index 00000000..e087e0f2
--- /dev/null
+++ b/lbr_moveit_config/doc/lbr_moveit_config.rst
@@ -0,0 +1,62 @@
+LBR MoveIt Config
+=================
+Documentation for generating (:ref:`Generate MoveIt Configuration`) and updating (:ref:`Update MoveIt Configuration`) the ``MoveIt 2`` configurations for the LBRs. For full documentation see `MoveIt Documentation <https://moveit.picknik.ai/main/index.html>`_.
+
+Generate MoveIt Configuration 
+-----------------------------
+This procedure applies to all LBRs: ``iiwa7``, ``iiwa14``, ``med7``, and ``med14``.
+
+1. Make sure ``MoveIt 2`` is installed.
+
+.. code-block:: bash
+
+    sudo apt install ros-$ROS_DISTRO-moveit*
+
+2. Make sure the ``lbr_fri_ros2_stack`` is installed and **sourced**, see :ref:`Installation`.
+
+3. Launch the setup assistant
+
+.. code-block:: bash
+
+    ros2 launch moveit_setup_assistant setup_assistant.launch.py
+
+4. .. dropdown:: Select the target ``xacro``, e.g. ``lbr_fri_ros2_stack_ws/install/lbr_description/share/lbr_description/urdf/iiwa7/iiwa7.urdf.xacro``, and ``Load Files``
+
+    .. thumbnail:: img/moveit_setup_assistant.png
+
+5. Configure to your needs. Some configurations we used:
+
+- ``Robot Poses``: Add ``zero`` and ``transport``
+- ``MoveIt Controller``: ``Auto Add FollowJointsTrajectory``
+- ``Perception``: select ``None``
+- ``Launch``: Unselect all but ``MoveGroup Launch``, ``RViz Launch and Config``, and ``Setup Assistant Launch``
+- ``Configuration Files``: ``browse`` output folder and ``Generate Package``
+
+6. Some manual changes are required:
+
+has_acceleration_limits: true
+max_acceleration: 0 to float
+
+arm_controller -> position_trajectory_controller
+
+generate_demo_launch: 
+
+        {"use_sim_time": True}
+        # additional_env={"DISPLAY": ":0"},
+
+
+- Since ``URDF`` doesn't support acceleration limits, manually add acceleration limits in ``iiwa7_moveit_config/config/joint_limits.yaml``
+- In the ``move_group.launch.py`` use the robot descriotion from ``lbr_description``
+- In ``iiwa7_moveit_config/config/moveit_controllers.yaml`` change the ``arm_controller`` to ``position_trajectory_controller`` as in ``lbr_bringup/config/lbr_controllers.yml`` 
+
+Update MoveIt Configuration 
+---------------------------
+1. Make sure the ``lbr_fri_ros2_stack`` is installed and sourced, see :ref:`Installation`.
+
+2. Run the setup assistant for the existing configuration.
+
+.. code-block:: bash
+
+    ros2 launch iiwa7_moveit_config  setup_assistant.launch.py # [iiwa7, iiwa14, med7, med14]
+
+3. Update and save the configurations, similar to :ref:`Generate MoveIt Configuration`.