diff --git a/doc/architecture.rst b/doc/architecture.rst
index 45307b1f..9da37fe1 100644
--- a/doc/architecture.rst
+++ b/doc/architecture.rst
@@ -10,8 +10,8 @@ modules present in this library. Note that this is an incomplete view on the cla
 
 
 The core of this library is the ``UrDriver`` class which creates a
-fully functioning robot interface. For details on how to use it, please see the [Example
-driver](#example-driver) section.
+fully functioning robot interface. For details on how to use it, please see the
+:ref:`example-driver` section.
 
 The ``UrDriver``'s modules will be explained in the following.
 
diff --git a/doc/example.rst b/doc/example.rst
new file mode 100644
index 00000000..75d4d11f
--- /dev/null
+++ b/doc/example.rst
@@ -0,0 +1,11 @@
+.. _example-driver:
+
+Example driver
+==============
+In the ``examples`` subfolder you will find a minimal example of a running driver. It starts an
+instance of the ``UrDriver`` class and prints the RTDE values read from the controller. To run it make
+sure to
+ * have an instance of a robot controller / URSim running at the configured IP address (or adapt the
+   address to your needs)
+ * run it from the package's main folder (the one where this README.md file is stored), as for
+   simplicity reasons it doesn't use any sophisticated method to locate the required files.
diff --git a/doc/index.rst b/doc/index.rst
index 3da73f9e..762ba2e4 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -8,4 +8,5 @@ ur_client_library
    installation
    polyscope_compatibility
    architecture
+   example
    real_time