diff --git a/doc/develop.rst b/doc/develop.rst
index 51d37536b..42a727c96 100644
--- a/doc/develop.rst
+++ b/doc/develop.rst
@@ -43,6 +43,7 @@ User VM Tutorials
    tutorials/using_zephyr_as_uos
    tutorials/running_deb_as_user_vm
    tutorials/running_ubun_as_user_vm
+   tutorials/using_xenomai_as_uos
 
 Enable ACRN Features
 ********************
diff --git a/doc/tutorials/using_xenomai_as_uos.rst b/doc/tutorials/using_xenomai_as_uos.rst
new file mode 100644
index 000000000..82c396dc6
--- /dev/null
+++ b/doc/tutorials/using_xenomai_as_uos.rst
@@ -0,0 +1,97 @@
+.. _using_xenomai_as_uos:
+
+Using Xenomai as User OS (Real-Time VM)
+#######################################
+
+`Xenomai`_ is a real-time development framework cooperating with the Linux kernel, to provide a pervasive, interface-agnostic, hard real-time support to user space applications, seamlessly integrated into the Linux environment.
+
+This tutorial describes how to run Xenomai as the User OS(Real-Time VM) on the ACRN hypervisor.
+
+.. _Xenomai: https://gitlab.denx.de/Xenomai/xenomai/-/wikis/home
+
+Build Xenomai kernel
+********************
+
+#. Clone Xenomai kernel souce code::
+
+	$ git clone -b F/4.19.59/base/ipipe/xenomai_3.1 https://github.com/intel/linux-stable-xenomai
+
+#. Enter the directory and select default ACRN configuration::
+
+	$ cd linux-stable-xenomai && make acrn_defconfig
+
+#. 	Then just start building the kernel::
+
+	$ make targz-pkg
+
+#. Upon building completion, you will see a tarball containing kernel and its modules.
+
+   .. code-block:: none
+      :emphasize-lines: 22
+
+      $ ls -l
+      total 97944
+      drwxr-xr-x  27 tw tw     4096 Feb 20 10:23 arch
+      drwxr-xr-x   3 tw tw    12288 Feb 21 11:01 block
+      -rw-r--r--   1 tw tw   789264 Feb 25 16:17 built-in.a
+      drwxr-xr-x   2 tw tw     4096 Feb 21 11:01 certs
+      -rw-r--r--   1 tw tw      423 Feb 20 10:17 COPYING
+      -rw-r--r--   1 tw tw    98741 Feb 20 10:17 CREDITS
+      drwxr-xr-x   4 tw tw    12288 Feb 21 11:01 crypto
+      drwxr-xr-x 120 tw tw    12288 Feb 20 10:17 Documentation
+      drwxr-xr-x 143 tw tw     4096 Feb 21 10:48 drivers
+      drwxr-xr-x   2 tw tw     4096 Feb 20 10:21 firmware
+      drwxr-xr-x  73 tw tw    12288 Feb 21 11:01 fs
+      drwxr-xr-x  32 tw tw     4096 Feb 20 10:19 include
+      drwxr-xr-x   2 tw tw     4096 Feb 25 16:25 init
+      drwxr-xr-x   2 tw tw     4096 Feb 21 11:01 ipc
+      -rw-r--r--   1 tw tw     2245 Feb 20 10:17 Kbuild
+      -rw-r--r--   1 tw tw      563 Feb 20 10:17 Kconfig
+      drwxr-xr-x  20 tw tw    12288 Feb 25 16:17 kernel
+      drwxr-xr-x  13 tw tw    20480 Feb 21 11:01 lib
+      drwxr-xr-x   5 tw tw     4096 Feb 20 10:17 LICENSES
+      -rw-r--r--   1 tw tw 17572590 Feb 25 16:17 linux-4.19.59-xenomai-3.1-acrn+-x86.tar.gz
+      ...
+
+Launch RTVM
+***********
+
+#. Prepare a dedicated disk (NVMe or SATA) for RTVM, here we suppose it's ``/dev/sda``. First download the Preempt-RT VM image:
+
+	$ wget https://github.com/projectacrn/acrn-hypervisor/releases/download/acrn-2020w01.1-140000p/preempt-rt-32030.img.xz
+
+#. Decompress the xz image:
+
+	$ xz -d preempt-rt-32030.img.xz
+
+#. Burn the Preempt-RT VM image onto the SATA disk:
+
+	$ sudo dd if=preempt-rt-32030.img of=/dev/sda bs=4M oflag=sync status=progress iflag=fullblock seek=0 conv=notrunc
+
+#. Then you can launch RTVM via our script. We need to tell it where the root partition (here we suppose it's sda3) and kernel tarball are::
+
+	$ sudo /usr/share/acrn/samples/nuc/launch_xenomai.sh -b /dev/sda3 -k /path/to/linux-4.19.59-xenomai-3.1-acrn+-x86.tar.gz
+
+#. If everything works, you will see a login prompt::
+
+    ...
+    [  OK  ] Started Permit User Sessions.
+    [  OK  ] Started Getty on tty1.
+    [  OK  ] Started Serial Getty on hvc0.
+    [  OK  ] Reached target Login Prompts.
+    [  OK  ] Started Network Manager Script Dispatcher Service.
+    [  OK  ] Started Proxy AutoConfig runner service.
+    [  OK  ] Started Login Service.
+    [  OK  ] Reached target Multi-User System.
+    [  OK  ] Reached target Graphical Interface.
+
+    clr-c1ff5bba8c3145ac8478e8e1f96e1087 login:
+
+
+Installing the Xenomai libraries and tools
+******************************************
+
+To use some Xenomai tools or its libraries, please follow the `official document
+<https://gitlab.denx.de/Xenomai/xenomai/-/wikis/Installing_Xenomai_3#library-install>`__
+to build and install them in RTVM. Please note that the according version is Xenomai-3.1 with
+4.19.59 kernel.