diff --git a/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst b/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst
index c9d852988..dff6b2068 100644
--- a/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst
+++ b/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst
@@ -165,6 +165,13 @@ NOTE: Once you placed your EEF to a new goal, be sure to run `Plan` before runni
 .. image:: rviz_plugin_slider.png
    :width: 700px
 
+Choosing Specific Start/Goal States
++++++++++++++++++++++++++++++++++++
+
+The ``Planning`` tab has comboboxes for both, the start and goal state, to choose specific robot states from. These states include the current state, the previous state, a randomly sampled state, as well as all named states of the selected planning group that were defined in the ``.srdf`` file of the robot. 
+The ``previous`` state here refers to the start state of the previous planning attempt. Thus, choosing ``previous`` as the goal state after execution of a planned motion path, allows you to move back to the previous robot pose easily. As, both the ``current`` and the ``previous`` start/goal states are automatically updated after execution, you can easily plan and move back and forth between two states as illustrated in the following video.
+
+.. image:: rviz_plugin_access_previous_pose.gif
 
 Next Steps
 ----------
diff --git a/doc/quickstart_in_rviz/rviz_plugin_access_previous_pose.gif b/doc/quickstart_in_rviz/rviz_plugin_access_previous_pose.gif
new file mode 100644
index 000000000..b75939559
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