diff --git a/doc/_pages/apt.md b/doc/_pages/apt.md
new file mode 100644
index 000000000000..769618c1a792
--- /dev/null
+++ b/doc/_pages/apt.md
@@ -0,0 +1,64 @@
+---
+title: Installation via APT (Ubuntu)
+---
+
+# APT Packages
+
+Drake publishes pre-compiled binaries as APT packages (``*.deb``) for the
+Ubuntu 18.04 (Bionic) and Ubuntu 20.04 (Focal) operating systems. Refer to
+[Supported Configurations](/installation.html#supported-configurations)
+for additional compatibility details.
+
+To learn about other installation methods, refer to
+[Installation and Quickstart](/installation.html).
+
+Drake binary releases incorporate a pre-compiled version of
+[SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
+[Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html).
+Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
+
+## Stable Releases
+
+To add the Drake APT repository to your machine and install the `drake-dev` package,
+please do the following in order:
+
+If you are using a [minimal](https://wiki.ubuntu.com/Minimal) cloud or
+container image, you may need to install the following packages:
+
+```bash
+sudo apt-get update
+sudo apt-get install --no-install-recommends \
+  ca-certificates gnupg lsb-release wget
+```
+
+Download a copy of the Drake GPG signing key and add it to an APT trusted keychain:
+
+```bash
+wget -qO- https://drake-apt.csail.mit.edu/drake.asc | gpg --dearmor - \
+  | sudo tee /etc/apt/trusted.gpg.d/drake.gpg >/dev/null
+```
+
+Add the Drake repository to your APT sources list:
+
+```bash
+echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/$(lsb_release -cs) $(lsb_release -cs) main" \
+  | sudo tee /etc/apt/sources.list.d/drake.list >/dev/null
+```
+
+Update your local APT package index and install the `drake-dev` package:
+
+```bash
+sudo apt-get update
+sudo apt-get install --no-install-recommends drake-dev
+```
+
+Most content installs to `/opt/drake`, so setting the following environment
+variables may be useful:
+
+  ```bash
+  export LD_LIBRARY_PATH="/opt/drake/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"
+  export PATH="/opt/drake/bin${PATH:+:${PATH}}"
+  export PYTHONPATH="/opt/drake/lib/python$(python3 -c 'import sys; print("{0}.{1}".format(*sys.version_info))')/site-packages${PYTHONPATH:+:${PYTHONPATH}}"
+  ```
+
+Refer to [Quickstart](/installation.html#quickstart) for next steps.
diff --git a/doc/_pages/developers.md b/doc/_pages/developers.md
index f2735366e4d3..144fe3cd2dfe 100644
--- a/doc/_pages/developers.md
+++ b/doc/_pages/developers.md
@@ -57,34 +57,9 @@ of artifacts distributed with this website.
 * [Detailed Notes on Drake's Unit Tests](/unit_testing_instructions.html)
 * [Downstream Testing (Drake as a Dependency)](/downstream_testing.html)
 
-
 # Supported Configurations
 
-The following table shows the configurations and platforms that Drake
-officially supports. Supported configurations are tested in continuous
-integration. All other configurations are provided on a best-effort basis.
-
-Drake requires a compiler running in C++17 mode.
-
-| Operating System                 | Bazel | CMake | C/C++ Compiler                 | Java                          | Python |
-|----------------------------------|-------|-------|--------------------------------|-------------------------------|--------|
-| Ubuntu 18.04 LTS (Bionic Beaver) | 4.2   | 3.10  | GCC 7.5 (default) or Clang 9   | OpenJDK 11                    | 3.6    |
-| Ubuntu 20.04 LTS (Focal Fossa)   | 4.2   | 3.16  | GCC 9.3 (default) or Clang 9   | OpenJDK 11                    | 3.8    |
-| macOS Catalina (10.15)           | 4.2   | 3.19  | Apple LLVM 12.0.0 (Xcode 12.4) | AdoptOpenJDK 15 (HotSpot JVM) | 3.9    |
-| macOS Big Sur (11)               | 4.2   | 3.19  | Apple LLVM 12.0.0 (Xcode 12.4) | AdoptOpenJDK 15 (HotSpot JVM) | 3.9    |
-
-CPython is the only Python implementation supported. On Ubuntu, amd64
-(i.e., x86_64) is the only supported architecture. On macOS, x86_64 is the only
-supported architecture and running Drake under Rosetta 2 emulation on arm64 is
-not supported. Plans for any future arm64 support on macOS and/or Ubuntu are
-discussed in [issue #13514](https://github.com/RobotLocomotion/drake/issues/13514).
-
-Drake Ubuntu builds assume support for Intel's AVX2 and FMA instructions,
-introduced with the Haswell architecture in 2013 with substantial performance
-improvements in the Broadwell architecture in 2014. Drake is compiled with
-`-march=broadwell` to exploit these instructions (that also works for Haswell
-machines). Drake can be used on older machines if necessary by building from
-source with that flag removed.
+Refer to [Source Installation](/from_source.html#supported-configurations).
 
 ## Configuration Management Non-Determinism
 
@@ -105,15 +80,6 @@ If you have tried and are unable to configure your system by
 [following the instructions](/from_source.html) please do not hesitate
 to [ask for help](/getting_help.html).
 
-## Binary Packages
-
-The binary releases of Drake are built with GCC 7.5 on Ubuntu 18.04 (Bionic),
-GCC 9.3 on Ubuntu 20.04 (Focal), and Apple LLVM 12.0.0 on macOS Catalina
-(10.15).
-
-The links for these packages are listed in
-[Binary installation](/from_binary.html).
-
 # Issue Tracking
 
 * [GitHub Issue Management](/issues.html)
diff --git a/doc/_pages/docker.md b/doc/_pages/docker.md
index b6cd424885d2..fa1d9de60522 100644
--- a/doc/_pages/docker.md
+++ b/doc/_pages/docker.md
@@ -1,21 +1,60 @@
 ---
-title: Using the Drake Docker Images From Docker Hub
+title: Installation via Docker
 ---
 
-Drake's continuous integration has nightly jobs that publish the binary
-archives that are described in the [Nightly releases](/from_binary.html#nightly-releases) section. The Ubuntu
-18.04 (Bionic) binary archive is also used to publish a Docker image on
-[Docker Hub](https://hub.docker.com/r/robotlocomotion/drake). You can see the
-available Docker images here:
+# Docker Hub
 
-[https://hub.docker.com/r/robotlocomotion/drake/tags](https://hub.docker.com/r/robotlocomotion/drake/tags)
+Drake publishes pre-compiled binaries as Docker images on
+[Docker Hub](https://hub.docker.com/r/robotlocomotion/drake). Refer to
+[Supported Configurations](/installation.html#supported-configurations)
+for additional compatibility details.
 
-The [latest](https://hub.docker.com/r/robotlocomotion/drake/tags?name=latest)
-image can be pulled from Docker Hub as follows:
+To learn about other installation methods, refer to
+[Installation and Quickstart](/installation.html).
+
+Drake binary releases incorporate a pre-compiled version of
+[SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
+[Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html).
+Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
+
+## Stable Releases
+
+The latest stable image can be pulled from
+[Docker Hub](https://hub.docker.com/r/robotlocomotion/drake)
+as follows:
+
+```
+docker pull robotlocomotion/drake:X.Y.Z
+```
+
+Refer to [Release Notes](/release_notes/release_notes.html) for a list of
+published X.Y.Z version numbers.
+
+The docker tags for Drake's stable releases are spelled like:
+
+* ``bionic-X.Y.Z`` for the Ubuntu 18.04 image of Drake vX.Y.Z.
+* ``focal-X.Y.Z`` for the Ubuntu 20.04 image of Drake vX.Y.Z.
+* ``X.Y.Z`` is a synonym for one of the above, currently bionic-X.Y.Z.
+
+Refer to [Quickstart](/installation.html#quickstart) for next steps.
+
+## Nightly Releases
+
+The latest nightly image can be pulled from
+[Docker Hub](https://hub.docker.com/r/robotlocomotion/drake)
+as follows:
 
 ```
 docker pull robotlocomotion/drake:latest
 ```
 
-Docker images based on the Ubuntu 20.04 (Focal) binary archive are not
-available.
+The docker tags for Drake's nightly releases are spelled like:
+
+* ``bionic-YYYYMMDD`` for the Ubuntu 18.04 image of Drake as of date YYYY-MM-DD.
+* ``bionic`` is a synonym for the most recent ``bionic-YYYYMMDD``.
+* ``focal-YYYYMMDD`` for the Ubuntu 20.04 image of Drake as of date YYYY-MM-DD.
+* ``focal`` is a synonym for the most recent ``focal-YYYYMMDD``.
+* ``YYYYMMDD`` is a synonym for one of the above, currently ``bionic-YYYYMMDD``.
+* ``latest`` is a synonym for the most recent ``YYYYMMDD``.
+
+Refer to [Quickstart](/installation.html#quickstart) for next steps.
diff --git a/doc/_pages/from_binary.md b/doc/_pages/from_binary.md
index a5cecff26077..b070f5d793c6 100644
--- a/doc/_pages/from_binary.md
+++ b/doc/_pages/from_binary.md
@@ -1,111 +1,91 @@
 ---
-title: Binary installation (macOS, Ubuntu)
+title: Installation via Direct Download
 ---
 
-# Nightly Releases
+# Binary Packages
 
-Binary packages of Drake for Ubuntu 18.04 (Bionic), Ubuntu 20.04 (Focal) and
-Mac are generated nightly and are tagged ``latest`` or by ``yyyymmdd``. Latest
-releases are available to download at:
-
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-bionic.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-bionic.tar.gz)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-focal.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-focal.tar.gz)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac.tar.gz)
-
-Releases for specific days are available as follows:
-`https://drake-packages.csail.mit.edu/drake/nightly/drake-yyyymmdd-bionic|focal|mac.tar.gz`
+Drake publishes pre-compiled binaries as binary downloads (``*.tar.gz``)
+for all supported operating systems.  Refer to
+[Supported Configurations](/installation.html#supported-configurations)
+for compatibility details.
 
-For example: [https://drake-packages.csail.mit.edu/drake/nightly/drake-20191026-bionic.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-20191026-bionic.tar.gz)
-
-
-Note that Drake no longer supports Ubuntu 16.04 (Xenial), but older packages are available here:
-
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-xenial.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-xenial.tar.gz)
-* [https://drake-packages.csail.mit.edu/drake/nightly/drake-20191026-xenial.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-20191026-xenial.tar.gz)
-
-Individual packages are archived two years from their date of creation.
-
-Note that for release v0.30.0 and later, Ubuntu binaries require support for
-Intel's AVX2 and FMA instruction sets which were introduced with the Haswell
-architecture in 2013 with substantial performance improvements in the Broadwell
-architecture in 2014. Drake is compiled with `-march=broadwell` to exploit these
-instructions (that also works for Haswell machines). Drake can be used on older
-machines if necessary by building from source with that flag removed.
-
-For the compilers used to produce these releases, see
-[Binary Packages](/developers.html#binary-packages).
+To learn about other installation methods, refer to
+[Installation and Quickstart](/installation.html).
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html).
 Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
 
+## Stable Releases
+
+Binary packages of Drake for Ubuntu 18.04 (Bionic), Ubuntu 20.04 (Focal) and
+Mac are available to download as attachments from Drake's GitHub
+[releases](https://github.com/RobotLocomotion/drake/releases) page.
+
+The most recent release is
+[v0.35.0](https://github.com/RobotLocomotion/drake/releases/tag/v0.35.0):
 
-## Example Usage
+* [https://github.com/RobotLocomotion/drake/releases/download/v0.35.0/drake-20211021-bionic.tar.gz](https://github.com/RobotLocomotion/drake/releases/download/v0.35.0/drake-20211021-bionic.tar.gz)
+* [https://github.com/RobotLocomotion/drake/releases/download/v0.35.0/drake-20211021-focal.tar.gz](https://github.com/RobotLocomotion/drake/releases/download/v0.35.0/drake-20211021-focal.tar.gz)
+* [https://github.com/RobotLocomotion/drake/releases/download/v0.35.0/drake-20211021-mac.tar.gz](https://github.com/RobotLocomotion/drake/releases/download/v0.35.0/drake-20211021-mac.tar.gz)
 
-An example of how to use the nightly binaries is shown in this
-[example CMake project](https://github.com/RobotLocomotion/drake-external-examples/tree/main/drake_cmake_installed).
+### Use as a C++ library
 
-## Binary Installation for Python
+For an example of using a Drake ``*.tar.gz`` image from a CMake project, refer
+to the
+[drake_cmake_installed](https://github.com/RobotLocomotion/drake-external-examples/tree/main/drake_cmake_installed)
+example.
 
-To use Python bindings, see [Binary Installation for Python](/python_bindings.html#installation).
+### Use as a Python library
 
-## Docker Images
+In most cases, we suggest using our [pip releases](/pip.html), because that
+will be more convenient than manually downloading.  However, if you need both
+C++ and Python API support, then pip will not work.  This section shows
+how to incorporate a manual download into a
+[virtual environment](https://packaging.python.org/guides/installing-using-pip-and-virtual-environments/#creating-a-virtual-environment)
+directory.  In the example below, we will name that directory ``env``, but you
+can choose any name.
 
-You may also use binary releases in Docker images. See
-[Using the Drake Docker Images From Docker Hub](/docker.html)
-for more information.
+Download the binary release ``*.tar.gz`` file, using one of the links above.
+In the example below, we'll use ``drake.tar.gz`` to refer to it, but your
+download will have a more version-specific filename.
 
-## Experimental Packages
+Create and activate the envionment:
 
-Drake maintainers may build "experimental" packages on demand using Jenkins by
-following [these instructions](/jenkins.html#building-binary-packages-on-demand).
+```bash
+mkdir -p env
+tar -xvzf drake.tar.gz -C env --strip-components=1
+python3 -m virtualenv -p python3 env --system-site-packages
+source env/bin/activate
+```
 
-## Historical Note
+Install dependencies within the environment:
 
-Older releases were built around substantial MATLAB support, and are
-described on [release notes page](/release_notes/older_releases.html).
+```bash
+env/share/drake/setup/install_prereqs
+````
 
-# APT Packages for Monthly Tagged Releases
+(On Ubuntu, the script might ask to be run under ``sudo``.)
 
-APT packages are currently available for the Ubuntu 18.04 (Bionic) and
-Ubuntu 20.04 (Focal) operating systems on x86 64-bit architectures.
+Refer to [Quickstart](/installation.html#quickstart) for next steps.
 
-## To Install the Packages
+## Nightly Releases
 
-To add the Drake APT repository to your machine and install the `drake-dev` package,
-please do the following in order:
+Binary packages of Drake for Ubuntu 18.04 (Bionic), Ubuntu 20.04 (Focal) and
+Mac are generated nightly and are available to download at:
 
-1. If you are using a [minimal](https://wiki.ubuntu.com/Minimal) cloud or
-   container image, you may need to install the following packages:
-   ```bash
-   sudo apt-get update
-   sudo apt-get install --no-install-recommends \
-     ca-certificates gnupg lsb-release wget
-   ```
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-bionic.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-bionic.tar.gz)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-focal.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-focal.tar.gz)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-mac.tar.gz)
 
-2. Download a copy of the Drake GPG signing key and add it to an APT trusted keychain:
-   ```bash
-   wget -qO- https://drake-apt.csail.mit.edu/drake.asc | gpg --dearmor - \
-     | sudo tee /etc/apt/trusted.gpg.d/drake.gpg >/dev/null
-   ```
+Older packages for specific dates are available by replacing ``latest`` with an
+8-digit date, e.g., ``20200102`` for January 2nd, 2020.
 
-3. Add the Drake repository to your APT sources list:
-   ```bash
-   echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/$(lsb_release -cs) $(lsb_release -cs) main" \
-     | sudo tee /etc/apt/sources.list.d/drake.list >/dev/null
-   ```
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-YYYYMMDD-bionic.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-YYYYMMDD-bionic.tar.gz)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-YYYYMMDD-focal.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-YYYYMMDD-focal.tar.gz)
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-YYYYMMDD-mac.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-YYYYMMDD-mac.tar.gz)
 
-4. Update your local APT package index and install the `drake-dev` package:
-   ```bash
-   sudo apt-get update
-   sudo apt-get install --no-install-recommends drake-dev
-   ```
+Individual packages are archived two years from their date of creation.
 
-Most content installs to `/opt/drake`, so setting the following environment
-variables may be useful:
-  ```bash
-  export LD_LIBRARY_PATH="/opt/drake/lib${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}"
-  export PATH="/opt/drake/bin${PATH:+:${PATH}}"
-  export PYTHONPATH="/opt/drake/lib/python$(python3 -c 'import sys; print("{0}.{1}".format(*sys.version_info))')/site-packages${PYTHONPATH:+:${PYTHONPATH}}"
-  ```
+The installation instructions are identical to stable releases as shown above.
diff --git a/doc/_pages/from_source.md b/doc/_pages/from_source.md
index 2853558330dc..4d17a86fb495 100644
--- a/doc/_pages/from_source.md
+++ b/doc/_pages/from_source.md
@@ -1,7 +1,39 @@
 ---
-title: Source installation (macOS, Ubuntu)
+title: Source Installation
 ---
 
+# Supported Configurations
+
+The following table shows the configurations and platforms that Drake
+officially supports. Supported configurations are tested in continuous
+integration. Any other configurations are provided on a best-effort basis.
+
+| Operating System ⁽⁴⁾             | Architecture | Python  | Bazel | CMake | C/C++ Compiler ⁽⁵⁾                 | Java                          |
+|----------------------------------|--------------|---------|-------|-------|------------------------------------|-------------------------------|
+| Ubuntu 18.04 LTS (Bionic Beaver) | x86_64 ⁽¹⁾   | 3.6 ⁽³⁾ | 4.2   | 3.10  | GCC 7.5 (default) or Clang 9   | OpenJDK 11                    |
+| Ubuntu 20.04 LTS (Focal Fossa)   | x86_64 ⁽¹⁾   | 3.8 ⁽³⁾ | 4.2   | 3.16  | GCC 9.3 (default) or Clang 9   | OpenJDK 11                    |
+| macOS Catalina (10.15)           | x86_64 ⁽²⁾   | 3.9 ⁽³⁾ | 4.2   | 3.19  | Apple LLVM 12.0.0 (Xcode 12.4) | AdoptOpenJDK 15 (HotSpot JVM) |
+| macOS Big Sur (11)               | x86_64 ⁽²⁾   | 3.9 ⁽³⁾ | 4.2   | 3.19  | Apple LLVM 12.0.0 (Xcode 12.4) | AdoptOpenJDK 15 (HotSpot JVM) |
+
+⁽¹⁾ Drake Ubuntu builds assume support for Intel's AVX2 and FMA instructions,
+introduced with the Haswell architecture in 2013 with substantial performance
+improvements in the Broadwell architecture in 2014. Drake is compiled with
+`-march=broadwell` to exploit these instructions (that also works for Haswell
+machines). Drake can be used on older machines if necessary by building from
+source with that flag removed.
+
+⁽²⁾ Running Drake under Rosetta 2 emulation on arm64 is not supported. Plans
+for any future arm64 support on macOS and/or Ubuntu are discussed in
+[issue #13514](https://github.com/RobotLocomotion/drake/issues/13514).
+
+⁽³⁾ CPython is the only Python implementation supported.
+
+⁽⁴⁾ Drake features that perform image rendering (e.g., camera simulation)
+require a working display server.  Most personal computers will have this
+already built in, but some cloud or docker environments may not.
+
+⁽⁵⁾ Drake requires a compiler running in C++17 or C++20 mode.
+
 # Getting Drake
 
 We recommend that you [setup SSH access to GitHub.com](https://help.github.com/articles/adding-a-new-ssh-key-to-your-github-account/)
@@ -43,7 +75,7 @@ setup steps:
 * [macOS](/mac.html)
 * [Ubuntu](/ubuntu.html)
 
-See [supported configurations](/developers.html#supported-configurations)
+See [above](#supported-configurations)
 for the configurations and platforms that Drake officially supports.
 All else being equal, we would recommend developers use Ubuntu Bionic.
 
@@ -54,7 +86,51 @@ full details at:
 
 * [Bazel build system](/bazel.html)
 
-# Historical Note
+## Building the Python Bindings
+
+To use the Python bindings from Drake externally, we recommend using CMake.
+As an example:
+
+```bash
+git clone https://github.com/RobotLocomotion/drake.git
+mkdir drake-build
+cd drake-build
+cmake ../drake
+make -j
+```
+
+Please note the additional CMake options which affect the Python bindings:
 
-Older releases were built around substantial MATLAB support, and are
-described on [this release notes page](/release_notes/older_releases.html).
+* ``-DWITH_GUROBI={ON, [OFF]}`` - Build with Gurobi enabled.
+* ``-DWITH_MOSEK={ON, [OFF]}`` - Build with MOSEK enabled.
+* ``-DWITH_SNOPT={ON, [OFF]}`` - Build with SNOPT enabled.
+
+``{...}`` means a list of options, and the option surrounded by ``[...]`` is
+the default option. An example of building ``pydrake`` with both Gurobi and
+MOSEK, without building tests:
+
+```bash
+cmake -DWITH_GUROBI=ON -DWITH_MOSEK=ON ../drake
+```
+
+You will also need to have your ``PYTHONPATH`` configured correctly.
+
+*Ubuntu 18.04 (Bionic):*
+
+```bash
+cd drake-build
+export PYTHONPATH=${PWD}/install/lib/python3.6/site-packages:${PYTHONPATH}
+```
+
+*Ubuntu 20.04 (Focal):*
+
+```bash
+cd drake-build
+export PYTHONPATH=${PWD}/install/lib/python3.8/site-packages:${PYTHONPATH}
+```
+*macOS:*
+
+```bash
+cd drake-build
+export PYTHONPATH=${PWD}/install/lib/python3.9/site-packages:${PYTHONPATH}
+```
diff --git a/doc/_pages/installation.md b/doc/_pages/installation.md
index 6f0990264a68..59a95793e683 100644
--- a/doc/_pages/installation.md
+++ b/doc/_pages/installation.md
@@ -4,19 +4,97 @@ title: Installation and Quickstart
 
 # Previewing
 
-Before installing, you can preview the Python functionality of Drake by using
-Binder: <br/>
-<a target="_doc" href="https://mybinder.org/v2/gh/RobotLocomotion/drake/nightly-release-binder?urlpath=/tree/tutorials">
-  <img src="https://mybinder.org/badge_logo.svg"/>
-</a> <br/>
-As you are exploring, you should also review
-[What's Available from Python](/python_bindings.html#whats-available-from-python).
-
-# Choose an installation method
-
-You can choose to download a pre-compiled version of Drake, or to build it from source. The pre-compiled versions are much easier to use, but the source version is easier to update and will make it easier for you to contribute your fixes/improvements.
-
-* [Binary installation (macOS, Ubuntu)](/from_binary.html)  
-* [Source installation (macOS, Ubuntu)](/from_source.html)  
-* [Using the Drake Docker Images From Docker Hub](/docker.html)  
-* [Release Notes](/release_notes/release_notes.html)
+Before installing, you can preview Drake online using our interactive Python
+notebooks. See the [Tutorials](/index.html#tutorials) page for details.
+
+# Installation
+
+## Supported Configurations
+
+The following table shows the configurations and platforms that Drake
+officially supports:
+
+| Operating System ⁽⁴⁾             | Architecture | Python  |
+|----------------------------------|--------------|---------|
+| Ubuntu 18.04 LTS (Bionic Beaver) | x86_64 ⁽¹⁾   | 3.6 ⁽³⁾ |
+| Ubuntu 20.04 LTS (Focal Fossa)   | x86_64 ⁽¹⁾   | 3.8 ⁽³⁾ |
+| macOS Catalina (10.15)           | x86_64 ⁽²⁾   | 3.9 ⁽³⁾ |
+| macOS Big Sur (11)               | x86_64 ⁽²⁾   | 3.9 ⁽³⁾ |
+
+⁽¹⁾ Drake Ubuntu builds assume support for Intel's AVX2 and FMA instructions,
+introduced with the Haswell architecture in 2013 with substantial performance
+improvements in the Broadwell architecture in 2014. Drake is compiled with
+`-march=broadwell` to exploit these instructions (that also works for Haswell
+machines). Drake can be used on older machines if necessary by building from
+source with that flag removed.
+
+⁽²⁾ Running Drake under Rosetta 2 emulation on arm64 is not supported. Plans
+for any future arm64 support on macOS and/or Ubuntu are discussed in
+[issue #13514](https://github.com/RobotLocomotion/drake/issues/13514).
+
+⁽³⁾ CPython is the only Python implementation supported.
+
+⁽⁴⁾ Drake features that perform image rendering (e.g., camera simulation)
+require a working display server.  Most personal computers will have this
+already built in, but some cloud or docker environments may not.
+
+Additionally, if you compiling your own C++ code against Drake's C++ code
+and are using Drake's pre-compiled binaries, then you must use the same
+compiler as our releases:
+
+| Operating System                 | C/C++ Compiler                 |
+|----------------------------------|--------------------------------|
+| Ubuntu 18.04 LTS (Bionic Beaver) | GCC 7.5                        |
+| Ubuntu 20.04 LTS (Focal Fossa)   | GCC 9.3                        |
+| macOS Catalina (10.15)           | Apple LLVM 12.0.0 (Xcode 12.4) |
+| macOS Big Sur (11)               | Apple LLVM 12.0.0 (Xcode 12.4) |
+
+## Available Versions
+
+Drake publishes stable releases approximately once a month, and also
+offers nightly builds on an ongoing basis.
+
+For new users, we recommend using the stable releases.  New releases
+will be announced on Drake's GitHub
+[releases](https://github.com/RobotLocomotion/drake/releases) page and
+documented in Drake's [Release Notes](/release_notes/release_notes.html).
+
+Experienced users who want access to the latest features may use the
+nightly builds.
+
+## Choose an Installation Method
+
+The following table shows the installation methods available for Drake's
+pre-compiled binaries, per the supported platforms and release versions.
+
+The pip packages only support using Drake via Python.
+All other packages support both C++ and/or Python.
+
+|                       | Ubuntu | macOS |
+|-----------------------|--------|-------|
+| Using pip             | [Stable](/pip.html#stable-releases) ⁽¹⁾ | |
+| Using apt (deb)       | [Stable](/apt.html#stable-releases) | |
+| Using tar.gz download | [Stable](/from_binary.html#stable-releases) or [Nightly](/from_binary.html#nightly-releases) | [Stable](/from_binary.html#stable-releases) or [Nightly](/from_binary.html#nightly-releases) |
+| Using Docker Hub      | [Stable](/docker.html#stable-releases) or [Nightly](/docker.html#nightly-releases) | [Stable](/docker.html#stable-releases) or [Nightly](/docker.html#nightly-releases) |
+
+⁽¹⁾ For the moment, we only support ``pip install drake`` for Ubuntu 18.04 LTS
+(Bionic Beaver), not Ubuntu 20.04 LTS (Focal Fossa).  Subscribe to
+[#15959](https://github.com/RobotLocomotion/drake/issues/15959) for updates.
+
+Alternatively, you can skip the pre-compiled binaries and
+[build Drake from source](/from_source.html).
+
+We're considering adding macOS support for Homebrew, i.e., ``brew install
+drake``.  Please upvote or comment on
+[#12782](https://github.com/RobotLocomotion/drake/issues/12782)
+if you are interested.
+
+# Quickstart
+
+For Python, refer to
+[Using the Python Bindings](/python_bindings.html#using-the-python-bindings).
+
+For C++, refer to either the
+[example CMake project for apt (deb)](https://github.com/RobotLocomotion/drake-external-examples/tree/main/drake_cmake_installed_apt)
+or the
+[example CMake project for tar.gz download](https://github.com/RobotLocomotion/drake-external-examples/tree/main/drake_cmake_installed).
diff --git a/doc/_pages/jenkins.md b/doc/_pages/jenkins.md
index 8120e20a8654..6ce4ffeb47df 100644
--- a/doc/_pages/jenkins.md
+++ b/doc/_pages/jenkins.md
@@ -84,7 +84,7 @@ Installation prerequisites are packages that are not pulled in Bazel, but
 instead installed on the OS itself using a package manager like ``apt``,
 Homebrew, or ``pip`` (only on Mac). They are installed via the scripts under
 ``setup/``, and are split between ``binary_distribution`` (dependencies that
-are necessary for [binary installation](/from_binary.html)) and
+are necessary for [binary installation](/installation.html)) and
 ``source_distribution`` (dependencies, in addition to those in
 ``binary_distribution``, necessary for
 [source installation](/from_source.html)). Since
diff --git a/doc/_pages/mac.md b/doc/_pages/mac.md
index c8a1a02ffc98..82dd8f913f10 100644
--- a/doc/_pages/mac.md
+++ b/doc/_pages/mac.md
@@ -12,5 +12,5 @@ Prerequisite setup is otherwise automated. Simply run:
 ./setup/mac/install_prereqs.sh
 ```
 
-After running the script, return to [Source installation (macOS, Ubuntu)](/from_source.html) to complete and test your
+After running the script, return to [Source installation](/from_source.html) to complete and test your
 installation.
diff --git a/doc/_pages/pip.md b/doc/_pages/pip.md
new file mode 100644
index 000000000000..d10c923b34f5
--- /dev/null
+++ b/doc/_pages/pip.md
@@ -0,0 +1,70 @@
+---
+title: Installation via Pip
+---
+
+# Pip Packages
+
+Drake publishes pre-compiled binaries as
+[PyPI wheel packages](https://pypi.org/project/drake/).  Refer to
+[Supported Configurations](/installation.html#supported-configurations)
+for additional compatibility details.
+
+To learn about other installation methods, refer to
+[Installation and Quickstart](/installation.html).
+
+<!--
+TODO(#15961) The wheels do not yet incorporate SNOPT.
+Once they do, we should uncomment this paragraph:
+
+Drake binary releases incorporate a pre-compiled version of
+[SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
+[Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html).
+Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
+-->
+
+## Stable Releases
+
+<div class="warning" markdown="1">
+Drake's support for pip has only just recently been introduced (as of October
+2021), so still has some known issues (see
+[issue #15954](https://github.com/RobotLocomotion/drake/issues/15954)).
+Please [let us know](/getting_help.html) if you
+experience any additional problems. To fall back to other installation methods
+in the meantime, refer to [Installation and Quickstart](/installation.html)
+for more choices.
+</div>
+
+<div class="warning" markdown="1">
+Drake's pip wheels are only published for CPython 3.6 and CPython 3.7 running
+on Linux.  In the future, we intend to publish additional builds.
+</div>
+
+We recommend installing drake into a
+[virtual environment](https://packaging.python.org/guides/installing-using-pip-and-virtual-environments/#creating-a-virtual-environment)
+directory.  In the example below, we will name that directory ``env``, but you
+can choose any name.
+
+Create a virtual environment and install Drake:
+
+```bash
+python3 -m venv env
+env/bin/pip install --upgrade pip
+env/bin/pip install drake
+```
+
+Drake requires certain basic runtime libraries from the host linux distribution.
+
+For Ubuntu 18.04, install these additional libraries:
+
+```bash
+sudo apt-get install --no-install-recommends \
+  libpython3.6 python3-tk libx11-6 libsm6 libxt6 libglib2.0-0
+```
+
+Activate the virtual environment:
+
+```bash
+source env/bin/activate
+````
+
+Refer to [Quickstart](/installation.html#quickstart) for next steps.
diff --git a/doc/_pages/python_bindings.md b/doc/_pages/python_bindings.md
index fb282665e43a..a02f496e3b2e 100644
--- a/doc/_pages/python_bindings.md
+++ b/doc/_pages/python_bindings.md
@@ -6,7 +6,7 @@ layout: page_with_toc
 {% include toc.md %}
 <article class="markdown-body" markdown="1">
 
-# Installation
+# Background
 
 A substantial subset of the Drake C++ functionality is available from Python.
 The Drake Python bindings are generated using [pybind11](https://github.com/pybind/pybind11),
@@ -16,135 +16,16 @@ source files inside the ``bindings/pydrake`` folder. These bindings are
 installed as a single package called ``pydrake``.
 
 <div class="warning" markdown="1">
-Drake is incompatible with the Python environment supplied by Anaconda. Please
+Drake does not support the Python environment supplied by Anaconda.
+To use our supported workflow, please
 uninstall Anaconda or remove the Anaconda bin directory from the `PATH` before
 building or using the Drake Python bindings.
 </div>
 
-Before attempting installation, please review the
-[supported configurations](/developers.html#supported-configurations) to know what
-versions of Python are supported for your platform.
-
-## Binary Installation for Python
-
-First, download and extract an [available binary package](/from_binary.html).
-
-As an example, here is how to download and extract one of the latest releases
-to ``/opt`` (where ``<platform>`` could be ``bionic``, ``focal``, or ``mac``):
-
-```bash
-curl -o drake.tar.gz https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-<platform>.tar.gz
-rm -rf /opt/drake
-tar -xvzf drake.tar.gz -C /opt
-```
-
-Ensure that you have the system dependencies:
-
-```bash
-/opt/drake/share/drake/setup/install_prereqs
-```
-
-Next, ensure that your ``PYTHONPATH`` is properly configured.
-
-*Ubuntu 18.04 (Bionic):*
-
-```bash
-export PYTHONPATH=/opt/drake/lib/python3.6/site-packages:${PYTHONPATH}
-```
-
-*Ubuntu 20.04 (Focal):*
-
-```bash
- export PYTHONPATH=/opt/drake/lib/python3.8/site-packages:${PYTHONPATH}
-```
-
-*macOS:*
-
-```bash
- export PYTHONPATH=/opt/drake/lib/python3.9/site-packages:${PYTHONPATH}
-```
-
-See [below](#using-the-python-bindings) for usage instructions.
-
-## Inside ``virtualenv``
-
-At present, Drake is not installable via ``pip``. However, you can still
-incorporate its install tree into a ``virtualenv``
-[FHS](https://en.wikipedia.org/wiki/Filesystem_Hierarchy_Standard)-like
-environment.
-
-An example, where you should replace ``<venv_path>`` and ``<platform>``:
-
-```bash
-# Setup drake, and run prerequisites.
-curl -o drake.tar.gz https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-<platform>.tar.gz
-mkdir -p <venv_path>
-tar -xvzf drake.tar.gz -C <venv_path> --strip-components=1
-# - You may need `sudo` here.
-<venv_path>/share/drake/setup/install_prereqs
-
-# Setup a virtualenv over the drake install.
-python3 -m virtualenv -p python3 <venv_path> --system-site-packages
-```
-
-<div class="note" markdown="1">
-You can extract Drake into an existing `virtualenv` tree if you have already run `install_prereqs`; however, you should ensure that you have run `install_prereqs`. Before you do this, you should capture / freeze your current requirements to reproduce your environment if there are conflicts.
-</div>
-
-To check if this worked, follow the instructions as
-[shown below](#using-the-python-bindings), but either:
-
-* Use ``<venv_path>/bin/python`` instead of ``python3``, or
-* Source ``<venv_path>/bin/activate`` in your current shell session.
-
-## Building the Python Bindings
-
-To use the Python bindings from Drake externally, we recommend using CMake.
-As an example:
-
-```bash
-git clone https://github.com/RobotLocomotion/drake.git
-mkdir drake-build
-cd drake-build
-cmake ../drake
-make -j
-```
-
-Please note the additional CMake options which affect the Python bindings:
-
-* ``-DWITH_GUROBI={ON, [OFF]}`` - Build with Gurobi enabled.
-* ``-DWITH_MOSEK={ON, [OFF]}`` - Build with MOSEK enabled.
-* ``-DWITH_SNOPT={ON, [OFF]}`` - Build with SNOPT enabled.
-
-``{...}`` means a list of options, and the option surrounded by ``[...]`` is
-the default option. An example of building ``pydrake`` with both Gurobi and
-MOSEK, without building tests:
-
-```bash
-cmake -DWITH_GUROBI=ON -DWITH_MOSEK=ON ../drake
-```
-
-You will also need to have your ``PYTHONPATH`` configured correctly.
-
-*Ubuntu 18.04 (Bionic):*
-
-```bash
-cd drake-build
-export PYTHONPATH=${PWD}/install/lib/python3.6/site-packages:${PYTHONPATH}
-```
-
-*Ubuntu 20.04 (Focal):*
-
-```bash
-cd drake-build
-export PYTHONPATH=${PWD}/install/lib/python3.8/site-packages:${PYTHONPATH}
-```
-*macOS:*
+# Installation
 
-```bash
-cd drake-build
-export PYTHONPATH=${PWD}/install/lib/python3.9/site-packages:${PYTHONPATH}
-```
+Refer to [Installation](/installation.html) for how to install Drake's
+stable releases using pip.
 
 # Using the Python Bindings
 
@@ -158,7 +39,7 @@ python3 -c 'import pydrake.all; print(pydrake.__file__)'
 ```
 
 <div class="note" markdown="1">
-If you are using Gurobi, you must either have it installed in the suggested location under `/opt/...`> mentioned in Gurobi 9.0.2, or you must ensure that you define the `${GUROBI_HOME}` environment variable, or specify `${GUROBI_INCLUDE_DIR}` via CMake.
+If you are using Gurobi, you must either have it installed in the suggested location under `/opt/...` mentioned in Gurobi 9.0.2, or you must ensure that you define the `${GUROBI_HOME}` environment variable, or specify `${GUROBI_INCLUDE_DIR}` via CMake.
 </div>
 
 
@@ -167,7 +48,8 @@ If you are using Gurobi, you must either have it installed in the suggested loca
 You should first browse the [Python API](https://drake.mit.edu/pydrake/index.html) to see what
 modules are available. The most up-to-date high-level demonstrations of what
 can be done using ``pydrake`` are in Drake's [Tutorials](/index.html#tutorials) and
-the [Underactuated Robotics Textbook](http://underactuated.mit.edu/).
+the [Underactuated Robotics Textbook](http://underactuated.mit.edu/) and
+the [Robotic Manipulation Textbook](https://manipulation.mit.edu/).
 
 You can also see lower-level usages of the API in the ``pydrake`` unit tests
 themselves, which you can find inside of the
diff --git a/doc/_pages/release_playbook.md b/doc/_pages/release_playbook.md
index 8c7cf5aa4f8d..3232e2f990df 100644
--- a/doc/_pages/release_playbook.md
+++ b/doc/_pages/release_playbook.md
@@ -129,6 +129,8 @@ the main body of the document:
     ``newest_commit`` whose changes are enumerated in the notes.  Some dates
     are YYYYMMDD format, some are YYYY-MM-DD format; be sure to manually fix
     them all.
+   1. Update the github links within doc/_pages/from_binary.md to reflect the
+      upcoming v0.N.0 and YYYYMMDD.
 11. Merge the release notes PR
    1. After merge, go to <https://drake-jenkins.csail.mit.edu/view/Documentation/job/linux-bionic-unprovisioned-gcc-bazel-nightly-documentation/> and push "Build now".
       * If you don't have "Build now" click "Log in" first in upper right.
diff --git a/doc/_release-notes/older_releases.md b/doc/_release-notes/2015.md
similarity index 97%
rename from doc/_release-notes/older_releases.md
rename to doc/_release-notes/2015.md
index 7dc34c216d2b..de0e740d29fa 100644
--- a/doc/_release-notes/older_releases.md
+++ b/doc/_release-notes/2015.md
@@ -1,6 +1,6 @@
 ---
-title: Using older (2015) releases
-released: in 2015
+title: Using older (MATLAB 2015) releases
+released: in 2015 or earlier
 ---
 
 We cannot offer support for older releases, but we still host the binaries for
diff --git a/doc/_release-notes/2016.md b/doc/_release-notes/2016.md
new file mode 100644
index 000000000000..06d57be7bcba
--- /dev/null
+++ b/doc/_release-notes/2016.md
@@ -0,0 +1,11 @@
+---
+title: Using older (Ubuntu 16.04) releases
+released: for Ubuntu 16.04
+---
+
+We cannot offer support for older releases, but we still host the binaries
+for reference.
+
+The last published package for Ubuntu 16.04 (Xenial) is available here:
+
+* [https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-xenial.tar.gz](https://drake-packages.csail.mit.edu/drake/nightly/drake-latest-xenial.tar.gz)
diff --git a/doc/_release-notes/template.txt b/doc/_release-notes/template.txt
index 16b603b8d783..bb791a3d5539 100644
--- a/doc/_release-notes/template.txt
+++ b/doc/_release-notes/template.txt
@@ -107,7 +107,7 @@ Newly bound
 
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/{version}) named
-``drake-YYYYMMDD-{{bionic|focal|mac}}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-YYYYMMDD-{{bionic|focal|mac}}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.10.0.md b/doc/_release-notes/v0.10.0.md
index 5481b66017fd..3caacb0cd1e1 100644
--- a/doc/_release-notes/v0.10.0.md
+++ b/doc/_release-notes/v0.10.0.md
@@ -12,13 +12,13 @@ Some of the more recent or substantial changes include:
 * Added [MultibodyPlant dynamics](https://drake.mit.edu/doxygen_cxx/group__multibody.html) (RigidBodyPlant is no longer actively maintained).
 * Added camera and depth simulation (RgbdSensor) and geometric queries (SceneGraph).
 * Reworked examples.
-* Supports Ubuntu 16, Ubuntu 18, and macOS (see [Supported Configurations](/developers.html#supported-configurations) documentation for details).
+* Supports Ubuntu 16, Ubuntu 18, and macOS (see [Installation](/installation.html) documentation for details).
 * Removed support for MATLAB; removed support for Windows.
 
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.10.0)
 named ``drake-20190905-{bionic|xenial|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.11.0.md b/doc/_release-notes/v0.11.0.md
index 248199bdce0e..f479e2a5eb9b 100644
--- a/doc/_release-notes/v0.11.0.md
+++ b/doc/_release-notes/v0.11.0.md
@@ -89,7 +89,7 @@ Removal of deprecated APIs
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.11.0)
 named ``drake-20191002-{bionic|xenial|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/)  as part of the [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
 
diff --git a/doc/_release-notes/v0.12.0.md b/doc/_release-notes/v0.12.0.md
index cbae5e57d98f..b5d7794c5fa3 100644
--- a/doc/_release-notes/v0.12.0.md
+++ b/doc/_release-notes/v0.12.0.md
@@ -263,7 +263,7 @@ New hydroelastic contact model in progress ([#12102][_#12102], [#12114][_#12114]
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.12.0)
 named ``drake-20191108-{bionic|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
 
diff --git a/doc/_release-notes/v0.13.0.md b/doc/_release-notes/v0.13.0.md
index 88f223e9337a..f363a7fac626 100644
--- a/doc/_release-notes/v0.13.0.md
+++ b/doc/_release-notes/v0.13.0.md
@@ -196,7 +196,7 @@ Newly bound
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.13.0)
 named ``drake-20191217-{bionic|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.14.0.md b/doc/_release-notes/v0.14.0.md
index e8e6e9a1d0cf..b009cf429f46 100644
--- a/doc/_release-notes/v0.14.0.md
+++ b/doc/_release-notes/v0.14.0.md
@@ -228,7 +228,7 @@ Newly bound
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.14.0)
 named ``drake-20200116-{bionic|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.15.0.md b/doc/_release-notes/v0.15.0.md
index be505ecab6a1..51ec65c5b731 100644
--- a/doc/_release-notes/v0.15.0.md
+++ b/doc/_release-notes/v0.15.0.md
@@ -178,7 +178,7 @@ Fixes
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.15.0)
 named ``drake-20200212-{bionic|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.16.0.md b/doc/_release-notes/v0.16.0.md
index 1be42159bcad..0fe734456d34 100644
--- a/doc/_release-notes/v0.16.0.md
+++ b/doc/_release-notes/v0.16.0.md
@@ -145,7 +145,7 @@ Fixes
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.16.0)
 named ``drake-20200311-{bionic|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.16.1.md b/doc/_release-notes/v0.16.1.md
index d37dcea8ec23..635c9eb87c70 100644
--- a/doc/_release-notes/v0.16.1.md
+++ b/doc/_release-notes/v0.16.1.md
@@ -13,7 +13,7 @@ released: 2020-03-12
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.16.1)
 named ``drake-20200312-{bionic|mac}.tar.gz``. See 
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.17.0.md b/doc/_release-notes/v0.17.0.md
index 467bc4670a19..a67742d927d1 100644
--- a/doc/_release-notes/v0.17.0.md
+++ b/doc/_release-notes/v0.17.0.md
@@ -267,7 +267,7 @@ Fixes
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.17.0)
 named ``drake-20200421-{bionic|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.18.0.md b/doc/_release-notes/v0.18.0.md
index 169c0bb33db5..9f85596aa09b 100644
--- a/doc/_release-notes/v0.18.0.md
+++ b/doc/_release-notes/v0.18.0.md
@@ -189,7 +189,7 @@ Fixes
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.18.0)
 name ``drake-20200514-{bionic|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.19.0.md b/doc/_release-notes/v0.19.0.md
index a1fb9def2dbd..1b8eb0f147e4 100644
--- a/doc/_release-notes/v0.19.0.md
+++ b/doc/_release-notes/v0.19.0.md
@@ -370,7 +370,7 @@ timeline, and let us know if this will cause a problem.
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.19.0)
 named ``drake-20200615-{bionic|focal|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/)
diff --git a/doc/_release-notes/v0.20.0.md b/doc/_release-notes/v0.20.0.md
index 0dbcb91baf8f..bdf3ac988939 100644
--- a/doc/_release-notes/v0.20.0.md
+++ b/doc/_release-notes/v0.20.0.md
@@ -177,7 +177,7 @@ Newly bound
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.20.0)
 named ``drake-20200717-{bionic|focal|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.21.0.md b/doc/_release-notes/v0.21.0.md
index c87647135579..ac61a1b4c892 100644
--- a/doc/_release-notes/v0.21.0.md
+++ b/doc/_release-notes/v0.21.0.md
@@ -81,7 +81,7 @@ No changes.
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.21.0)
 named ``drake-20200723-{bionic|focal|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.22.0.md b/doc/_release-notes/v0.22.0.md
index 464e9ef47704..f3f9d942bcef 100644
--- a/doc/_release-notes/v0.22.0.md
+++ b/doc/_release-notes/v0.22.0.md
@@ -136,7 +136,7 @@ Newly bound
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.22.0)
 named ``drake-20200817-{bionic|focal|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.23.0.md b/doc/_release-notes/v0.23.0.md
index ed13a878c864..a178413161ad 100644
--- a/doc/_release-notes/v0.23.0.md
+++ b/doc/_release-notes/v0.23.0.md
@@ -206,7 +206,7 @@ Newly bound
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.23.0)
 named ``drake-20200913-{bionic|focal|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.24.0.md b/doc/_release-notes/v0.24.0.md
index d0c5ca2a99c6..01d3fa4db52d 100644
--- a/doc/_release-notes/v0.24.0.md
+++ b/doc/_release-notes/v0.24.0.md
@@ -320,7 +320,7 @@ Newly bound
 # Notes
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.24.0) named
-``drake-20201026-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20201026-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.25.0.md b/doc/_release-notes/v0.25.0.md
index b01d35bee434..c8fb7644e329 100644
--- a/doc/_release-notes/v0.25.0.md
+++ b/doc/_release-notes/v0.25.0.md
@@ -324,7 +324,7 @@ Models
 This release provides
 [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.25.0)
 named ``drake-20201215-{bionic|focal|mac}.tar.gz``. See
-[Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+[Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of
 [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
diff --git a/doc/_release-notes/v0.26.0.md b/doc/_release-notes/v0.26.0.md
index 1cf79a53b380..029571d722c4 100644
--- a/doc/_release-notes/v0.26.0.md
+++ b/doc/_release-notes/v0.26.0.md
@@ -138,7 +138,7 @@ Changes specific to Ubuntu:
 # Notes
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.24.0) named
-``drake-20210121-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20210121-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.27.0.md b/doc/_release-notes/v0.27.0.md
index 2c92378357b8..2ba8e2856654 100644
--- a/doc/_release-notes/v0.27.0.md
+++ b/doc/_release-notes/v0.27.0.md
@@ -153,7 +153,7 @@ C++
 # Notes
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.27.0) named
-``drake-20210216-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20210216-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.28.0.md b/doc/_release-notes/v0.28.0.md
index bffd73ecd3d9..21ccf795232c 100644
--- a/doc/_release-notes/v0.28.0.md
+++ b/doc/_release-notes/v0.28.0.md
@@ -130,7 +130,7 @@ Newly bound
 
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.28.0) named
-``drake-20210315-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20210315-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.29.0.md b/doc/_release-notes/v0.29.0.md
index 65725d266338..bd506aaaddbf 100644
--- a/doc/_release-notes/v0.29.0.md
+++ b/doc/_release-notes/v0.29.0.md
@@ -204,7 +204,7 @@ Newly bound
 # Notes
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.29.0) named
-``drake-20210418-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20210418-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.30.0.md b/doc/_release-notes/v0.30.0.md
index 22910fb6984c..4a592ccfafc6 100644
--- a/doc/_release-notes/v0.30.0.md
+++ b/doc/_release-notes/v0.30.0.md
@@ -157,7 +157,7 @@ Newly bound
 # Notes
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.30.0) named
-``drake-20210517-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20210517-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.31.0.md b/doc/_release-notes/v0.31.0.md
index a692fe21f74a..f695276a3358 100644
--- a/doc/_release-notes/v0.31.0.md
+++ b/doc/_release-notes/v0.31.0.md
@@ -192,7 +192,7 @@ Newly bound
 
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.31.0) named
-``drake-20210623-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20210623-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.32.0.md b/doc/_release-notes/v0.32.0.md
index fba4e04f702d..45be0bac78d9 100644
--- a/doc/_release-notes/v0.32.0.md
+++ b/doc/_release-notes/v0.32.0.md
@@ -187,7 +187,7 @@ Newly bound
 
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.32.0) named
-``drake-20210714-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20210714-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.33.0.md b/doc/_release-notes/v0.33.0.md
index 8905302f088d..793593ab6f4b 100644
--- a/doc/_release-notes/v0.33.0.md
+++ b/doc/_release-notes/v0.33.0.md
@@ -208,7 +208,7 @@ Newly bound
 # Notes
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.33.0) named
-``drake-20210811-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20210811-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.34.0.md b/doc/_release-notes/v0.34.0.md
index 48e4804213f3..ba0bf56074fe 100644
--- a/doc/_release-notes/v0.34.0.md
+++ b/doc/_release-notes/v0.34.0.md
@@ -185,7 +185,7 @@ Newly bound
 # Notes
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.34.0) named
-``drake-20210915-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20210915-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/doc/_release-notes/v0.35.0.md b/doc/_release-notes/v0.35.0.md
index 83e901951dd1..bb1fba590084 100644
--- a/doc/_release-notes/v0.35.0.md
+++ b/doc/_release-notes/v0.35.0.md
@@ -16,6 +16,8 @@ has been added to Drake C++ and Python ([#15731][_#15731], [#15799][_#15799])
     models without introducing new scopes (the contents of the included model
     are moved without any modification to the parent model). (*Note*: This
     currently does not support URDFs parsed via SDFormat composition.)
+* This release is the first to include PyPI wheels.
+    * Refer to [Installation via Pip](/pip.html) for instructions and known limitations.
 
 # Breaking changes since v0.34.0
 
@@ -191,7 +193,7 @@ Newly bound
 # Notes
 
 This release provides [pre-compiled binaries](https://github.com/RobotLocomotion/drake/releases/tag/v0.35.0) named
-``drake-20211021-{bionic|focal|mac}.tar.gz``. See [Nightly Releases](/from_binary.html#nightly-releases) for instructions on how to use them.
+``drake-20211021-{bionic|focal|mac}.tar.gz``. See [Stable Releases](/from_binary.html#stable-releases) for instructions on how to use them.
 
 Drake binary releases incorporate a pre-compiled version of [SNOPT](https://ccom.ucsd.edu/~optimizers/solvers/snopt/) as part of the
 [Mathematical Program toolbox](https://drake.mit.edu/doxygen_cxx/group__solvers.html). Thanks to
diff --git a/examples/kuka_iiwa_arm/README.md b/examples/kuka_iiwa_arm/README.md
index a7e289b963cc..42778c4996f2 100644
--- a/examples/kuka_iiwa_arm/README.md
+++ b/examples/kuka_iiwa_arm/README.md
@@ -14,9 +14,6 @@ Ensure that you have installed the drake visualizer with
 bazel build //tools:drake_visualizer
 ```
 
-Ensure that you have set your
-[PYTHONPATH](https://drake.mit.edu/python_bindings.html?highlight=python).
-
 All instructions assume that you are launching from the `drake`
 workspace directory.
 ```
diff --git a/examples/multibody/inclined_plane_with_body/README.md b/examples/multibody/inclined_plane_with_body/README.md
index 4fd53806110b..976a7b759b3b 100644
--- a/examples/multibody/inclined_plane_with_body/README.md
+++ b/examples/multibody/inclined_plane_with_body/README.md
@@ -20,9 +20,6 @@ finite box (if a finite box, the block can fall off the inclined plane).
 
 ### Building and running this example
 
-First complete the one-time setup instructions, if you have not already done so:
-https://drake.mit.edu/from_source.html#mandatory-platform-specific-instructions
-
 Open a terminal in the `drake` workspace, and type commands as shown below.
 
 Build the example like so:
diff --git a/solvers/mathematical_program_doxygen.h b/solvers/mathematical_program_doxygen.h
index 09b872f1a46f..02c50de670c9 100644
--- a/solvers/mathematical_program_doxygen.h
+++ b/solvers/mathematical_program_doxygen.h
@@ -140,7 +140,7 @@
  * † This is a commercial solver which requires a license
  * (note that some have free licenses for academics).
  *
- * ‡ <a href="https://drake.mit.edu/from_binary.html">Drake's pre-compiled
+ * ‡ <a href="https://drake.mit.edu/installation.html">Drake's pre-compiled
  * binary releases</a> incorporate a private build of SNOPT that does not
  * require a license when invoked via Drake's SnoptSolver wrapper class.
  *
@@ -247,7 +247,7 @@
  * † This is a commercial solver which requires a license
  * (note that some have free licenses for academics).
  *
- * ‡ <a href="https://drake.mit.edu/from_binary.html">Drake's pre-compiled
+ * ‡ <a href="https://drake.mit.edu/installation.html">Drake's pre-compiled
  * binary releases</a> incorporate a private build of SNOPT that does not
  * require a license when invoked via Drake's SnoptSolver wrapper class.
  *
diff --git a/solvers/snopt_solver.h b/solvers/snopt_solver.h
index f8f3fb53afb5..5cd09d727273 100644
--- a/solvers/snopt_solver.h
+++ b/solvers/snopt_solver.h
@@ -43,7 +43,7 @@ struct SnoptSolverDetails {
  * SolverInterface::available() will return false. You must opt-in to build
  * SNOPT per the documentation at https://drake.mit.edu/bazel.html#snopt.
  *
- * <a href="https://drake.mit.edu/from_binary.html">Drake's
+ * <a href="https://drake.mit.edu/installation.html">Drake's
  * pre-compiled binary releases</a> do incorporate SNOPT, so therefore
  * SolverInterface::available() will return true.
  * Thanks to Philip E. Gill and Elizabeth Wong for their kind support.
diff --git a/tools/install/colab/setup_drake_colab.py b/tools/install/colab/setup_drake_colab.py
index 90fcd3ebc159..457dc140ff50 100644
--- a/tools/install/colab/setup_drake_colab.py
+++ b/tools/install/colab/setup_drake_colab.py
@@ -44,7 +44,7 @@ def setup_drake(*, version, build):
           https://drake.mit.edu/jenkins#building-binary-packages-on-demand for
           information on obtaining a binary from an experimental branch.
 
-    See https://drake.mit.edu/from_binary.html for more information.
+    See https://drake.mit.edu/installation.html for more information.
 
     Note: If you already have pydrake installed to the target location, this
         will confirm that the build/version are the same as the installed