diff --git a/CHANGELOG.md b/CHANGELOG.md
index 10b679a9a50d..4dc6d453c9ba 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@
 
 * Misc
 
+  * Added Skeleton::getRootJoint(): [#832](https://github.com/dartsim/dart/pull/832)
   * Added CMake targets for code formatting using clang-format: [#811](https://github.com/dartsim/dart/pull/811), [#817](https://github.com/dartsim/dart/pull/817)
 
 ### DART 6.1.2 (2016-XX-XX)
diff --git a/dart/dynamics/Skeleton.cpp b/dart/dynamics/Skeleton.cpp
index 5aa5bb0952e9..7600dd998fea 100644
--- a/dart/dynamics/Skeleton.cpp
+++ b/dart/dynamics/Skeleton.cpp
@@ -796,6 +796,23 @@ const BodyNode* Skeleton::getRootBodyNode(std::size_t _treeIdx) const
   return const_cast<Skeleton*>(this)->getRootBodyNode(_treeIdx);
 }
 
+//==============================================================================
+Joint* Skeleton::getRootJoint(std::size_t treeIdx)
+{
+  auto rootBodyNode = getRootBodyNode(treeIdx);
+
+  if (rootBodyNode)
+    return rootBodyNode->getParentJoint();
+
+  return nullptr;
+}
+
+//==============================================================================
+const Joint* Skeleton::getRootJoint(std::size_t treeIdx) const
+{
+  return const_cast<Skeleton*>(this)->getRootJoint(treeIdx);
+}
+
 //==============================================================================
 BodyNode* Skeleton::getBodyNode(std::size_t _idx)
 {
diff --git a/dart/dynamics/Skeleton.hpp b/dart/dynamics/Skeleton.hpp
index c7ce02b5e614..d900d38a78d0 100644
--- a/dart/dynamics/Skeleton.hpp
+++ b/dart/dynamics/Skeleton.hpp
@@ -344,6 +344,13 @@ class Skeleton :
   /// _treeIdx
   const BodyNode* getRootBodyNode(std::size_t _treeIdx = 0) const;
 
+  /// Get the root Joint of the tree whose index in this Skeleton is treeIdx
+  Joint* getRootJoint(std::size_t treeIdx = 0u);
+
+  /// Get the const root Joint of the tree whose index in this Skeleton is
+  /// treeIdx
+  const Joint* getRootJoint(std::size_t treeIdx = 0u) const;
+
   // Documentation inherited
   BodyNode* getBodyNode(std::size_t _idx) override;