diff --git a/README.md b/README.md
index 226cada..5b49bfb 100644
--- a/README.md
+++ b/README.md
@@ -35,6 +35,7 @@ Humanoid robotics controller prototyping environment based on
 - Documentation: [HTML](https://scaron.info/doc/pymanoid/) or [PDF](https://scaron.info/doc/pymanoid/pymanoid.pdf)
 - [FAQ](https://github.com/stephane-caron/pymanoid/wiki/Frequently-Asked-Questions)
 - [Examples](/examples)
+- Tutorial: [Prototyping a walking pattern generator](https://scaron.info/teaching/prototyping-a-walking-pattern-generator.html)
 
 ## Installation