diff --git a/.readthedocs.yaml b/.readthedocs.yaml
new file mode 100644
index 000000000..a92dca4c2
--- /dev/null
+++ b/.readthedocs.yaml
@@ -0,0 +1,11 @@
+version: "2"
+
+build:
+  os: "ubuntu-22.04"
+  tools:
+    python: "3.10"
+
+sphinx:
+  configuration: docs/source/conf.py
+
+formats: all
\ No newline at end of file
diff --git a/docs/Makefile b/docs/Makefile
new file mode 100644
index 000000000..d0c3cbf10
--- /dev/null
+++ b/docs/Makefile
@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/docs/make.bat b/docs/make.bat
new file mode 100644
index 000000000..6247f7e23
--- /dev/null
+++ b/docs/make.bat
@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd
diff --git a/docs/requirements.txt b/docs/requirements.txt
new file mode 100644
index 000000000..53fc1f32e
--- /dev/null
+++ b/docs/requirements.txt
@@ -0,0 +1,2 @@
+sphinx==7.1.2
+sphinx-rtd-theme==1.3.0rc1
diff --git a/docs/source/conf.py b/docs/source/conf.py
new file mode 100644
index 000000000..bb439fddc
--- /dev/null
+++ b/docs/source/conf.py
@@ -0,0 +1,49 @@
+# Configuration file for the Sphinx documentation builder.
+import os
+import sys
+
+sys.path.insert(0, os.path.abspath(".."))
+version_file = os.path.join(os.path.dirname(__file__), "../src/jaxsim", "version.txt")
+
+with open(version_file) as file_handler:
+    __version__ = file_handler.read().strip()
+
+# -- Project information
+
+project = "JAXsim"
+copyright = "2022, Artifical and Mechanical Intelligence"
+author = "Artifical and Mechanical Intelligence"
+
+# release = "__version__"
+# version = "main (" + __version__ + ")"
+
+release = 0.1
+version = 0.1
+# -- General configuration
+
+extensions = [
+    "sphinx.ext.duration",
+    "sphinx.ext.doctest",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary",
+    "sphinx.ext.intersphinx",
+    "sphinx_autodoc_typehints",
+    "sphinx.ext.mathjax",
+    "sphinx.ext.ifconfig",
+    "sphinx.ext.viewcode",
+]
+
+# intersphinx_mapping = {
+#     "python": ("https://docs.python.org/3/", None),
+#     "sphinx": ("https://www.sphinx-doc.org/en/master/", None),
+# }
+# intersphinx_disabled_domains = ["std"]
+
+templates_path = ["_templates"]
+
+# -- Options for HTML output
+
+html_theme = "sphinx_rtd_theme"
+
+# -- Options for EPUB output
+epub_show_urls = "footnote"
diff --git a/docs/source/index.rst b/docs/source/index.rst
new file mode 100644
index 000000000..03d09a55d
--- /dev/null
+++ b/docs/source/index.rst
@@ -0,0 +1,22 @@
+Welcome to Lumache's documentation!
+===================================
+
+**Lumache** (/lu'make/) is a Python library for cooks and food lovers
+that creates recipes mixing random ingredients.
+It pulls data from the `Open Food Facts database <https://world.openfoodfacts.org/>`_
+and offers a *simple* and *intuitive* API.
+
+Check out the :doc:`usage` section for further information, including
+how to :ref:`installation` the project.
+
+.. note::
+
+   This project is under active development.
+
+Contents
+--------
+
+.. toctree::
+
+   usage
+   api
diff --git a/docs/source/usage.rst b/docs/source/usage.rst
new file mode 100644
index 000000000..924afcf6c
--- /dev/null
+++ b/docs/source/usage.rst
@@ -0,0 +1,34 @@
+Usage
+=====
+
+.. _installation:
+
+Installation
+------------
+
+To use Lumache, first install it using pip:
+
+.. code-block:: console
+
+   (.venv) $ pip install lumache
+
+Creating recipes
+----------------
+
+To retrieve a list of random ingredients,
+you can use the ``lumache.get_random_ingredients()`` function:
+
+.. autofunction:: lumache.get_random_ingredients
+
+The ``kind`` parameter should be either ``"meat"``, ``"fish"``,
+or ``"veggies"``. Otherwise, :py:func:`lumache.get_random_ingredients`
+will raise an exception.
+
+.. autoexception:: lumache.InvalidKindError
+
+For example:
+
+>>> import lumache
+>>> lumache.get_random_ingredients()
+['shells', 'gorgonzola', 'parsley']
+
diff --git a/src/jaxsim/version.txt b/src/jaxsim/version.txt
new file mode 100644
index 000000000..8a9ecc2ea
--- /dev/null
+++ b/src/jaxsim/version.txt
@@ -0,0 +1 @@
+0.0.1
\ No newline at end of file