diff --git a/docs/software/index.rst b/docs/software/index.rst
index 9e779a0eb..48b6acb36 100644
--- a/docs/software/index.rst
+++ b/docs/software/index.rst
@@ -11,6 +11,7 @@ Various documentation related to practices followed by the MIL Software team.
    documentation_syntax
    adding_documentation
    help
+   vrx_2023
    zobelisk
    asyncio
    rqt
diff --git a/docs/software/vrx_2023.md b/docs/software/vrx_2023.md
index 7a68ec756..5c454a5be 100644
--- a/docs/software/vrx_2023.md
+++ b/docs/software/vrx_2023.md
@@ -10,8 +10,43 @@ a bridge between ROS 1 and ROS 2 that we can use to connect our submission with
 their competition environment. This guide will help you get familiar with that
 setup and how to work with VRX.
 
+## Working with ROS 2
+
+Your machine will have both ROS 1 and ROS 2 running on it. To work with two versions
+of ROS, it's best to only source one version of ROS at a time.
+
+### Installing ROS 2
+
+To install ROS 2, run the `./scripts/install_ros2.sh` script. This will install
+ROS 2, the ROS 1 to 2 bridge, and the bridge VRX messages packages.
+
+### Working with ROS 1 and 2
+
+Currently, the MIL installation will source `./scripts/setup.bash` each time you
+open your terminal. While this works for most members and most applications, for
+VRX this is no longer ideal. We recommend changing that line to this (or
+something similar) such that you will be able to choose a version to run with each
+new terminal:
+
+```bash
+noetic() {
+    source ~/catkin_ws/src/mil/scripts/setup.bash
+}
+
+humble() {
+    source ./ros2_humble/install/local_setup.bash
+}
+```
+
+Then, in terminals where you want to run ROS 2, you can type `humble`. Likewise,
+in terminals where you want to run ROS 1, run `noetic`.
+
 ## Bridging VRX
 
+Because the VRX platform is built for ROS 2 and our current software focuses on
+ROS 1, we will create a ROS 1 to 2 bridge to allow for communication. The bridge,
+our ROS 1 code, and the VRX platform (in ROS 2) will all run on your host machine.
+
 ## Launching Missions
 
 To run the entire the entire VRX simulation, you can `roslaunch`. This launches
@@ -25,5 +60,5 @@ Some arguments you may want to provide include:
 
 * `run_task` - This flag allows you to run and get scored for a certain task.
   An example argument includes `Navigation` (to run the navigation task). The
-  task just runs the mission named `Vrx<your_argument>` (so in our case, it would
+  task runs the mission named `Vrx<your_argument>` (so in our case, it would
   run `VrxNavigation`).