diff --git a/docs/tutorials/index.md b/docs/tutorials/index.md
index 0730953..d6147fb 100644
--- a/docs/tutorials/index.md
+++ b/docs/tutorials/index.md
@@ -1,4 +1,18 @@
 # Tutorials
 
 Simulations can be an easy way of verifying the functionality of AutowareV2X before an actual field test.
-Here, since we want to test both the sending and receiving of information through AutowareV2X, we will need at least two AutowareV2X instances. For this, we will use a Docker-based environment.
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+Here, since we want to test both the sending and receiving of information through AutowareV2X, we will need at least two AutowareV2X instances. For this, we will use a Docker-based environment.
+
+## Using CPM in a simulation-based environment
+
+1. Create Docker networks
+```
+$ docker network create --driver=bridge --subnet=10.0.0.0/16 v2x_net -o com.docker.network.bridge.name="v2x_net"
+```
+# Launch Autoware container
+rocker --nvidia --x11 --user --volume $HOME/autoware_docker --volume $HOME/autoware_map -- ghcr.io/autowarefoundation/autoware-universe:latest-cuda
+
+$ cd autoware_docker
+$ . install/setup.bash
+$ ros2 launch autoware_v2x v2x.launch.xml network_interface:=eth1
+```
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