diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst
index 3081ae05c8..f2c0b5cc7a 100644
--- a/controller_manager/doc/userdoc.rst
+++ b/controller_manager/doc/userdoc.rst
@@ -136,6 +136,7 @@ There are two scripts to interact with controller manager from launch files:
 
   1. ``spawner`` - loads, configures and start a controller on startup.
   2. ``unspawner`` - stops and unloads a controller.
+  3. ``hardware_spawner`` - activates and configures a hardware component.
 
 
 ``spawner``
@@ -181,6 +182,26 @@ There are two scripts to interact with controller manager from launch files:
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
 
+
+``hardware_spawner``
+^^^^^^^^^^^^^^
+
+.. code-block:: console
+
+    $ ros2 run controller_manager hardware_spawner -h
+    usage: hardware_spawner [-h] [-c CONTROLLER_MANAGER] (--activate | --configure) hardware_component_name
+
+    positional arguments:
+      hardware_component_name
+                            The name of the hardware component which should be activated.
+
+    options:
+      -h, --help            show this help message and exit
+      -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
+                            Name of the controller manager ROS node
+      --activate            Activates the given components. Note: Components are by default configured before activated.
+      --configure           Configures the given components.
+
 Using the Controller Manager in a Process
 -----------------------------------------