diff --git a/doc/develop.rst b/doc/develop.rst
index 74bebd7a0..a70651504 100644
--- a/doc/develop.rst
+++ b/doc/develop.rst
@@ -79,6 +79,7 @@ Enable ACRN Features
    tutorials/setup_openstack_libvirt
    tutorials/acrn_on_qemu
    tutorials/using_grub
+   tutorials/pre-launched-rt
 
 Debug
 *****
diff --git a/doc/tutorials/images/pre_launched_rt.png b/doc/tutorials/images/pre_launched_rt.png
new file mode 100644
index 000000000..86e375664
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diff --git a/doc/tutorials/pre-launched-rt.rst b/doc/tutorials/pre-launched-rt.rst
new file mode 100644
index 000000000..7b0cb9bd9
--- /dev/null
+++ b/doc/tutorials/pre-launched-rt.rst
@@ -0,0 +1,108 @@
+.. _pre_launched_rt:
+
+Pre-Launched Preempt-RT Linux Mode in ACRN
+##########################################
+
+The Pre-Launched Preempt-RT Linux Mode of ACRN, abbreviated as
+Pre-Launched RT mode, is an ACRN configuration scenario. Pre-Launched RT
+mode allows you to boot ACRN with a preempt-rt Linux running in VM0, and
+the Service VM running in VM1. VM0 and VM1 are both pre-launched VMs,
+and their resources are partitioned from those on the physical platform.
+
+.. figure:: images/pre_launched_rt.png
+   :align: center
+
+Prerequisites
+*************
+
+Because the Pre-Launched RT VM and Service VM are physically isolated
+from each other, they must have their own devices to run a common OS,
+such as Linux. Also, the platform must support booting ACRN with
+multiple kernel images. So, your platform must have:
+
+- Two hard disk drives, one for the Pre-Launched RT and one for the Service
+  VM
+- Two network devices
+- GRUB multiboot support
+
+Example of Pre-Launched RT
+**************************
+
+Take the Whiskey Lake WHL-IPC-I5 board (as described in :ref:`hardware`) for
+example. This platform can connect both an NVMe and a SATA drive and has
+two Ethernet ports. We will passthrough the SATA and Ethernet 03:00.0
+devices into the Pre-Launched RT VM, and give the rest of the devices to
+the Service VM.
+
+Install SOS with Grub on NVMe
+=============================
+
+As with the Hybrid and Logical Partition scenarios, the Pre-Launched RT
+mode must boot using GRUB.  The ACRN hypervisor is loaded as a GRUB
+multiboot kernel, while the Pre-Launched RT kernel and Service VM
+kernels are loaded as multiboot modules. The ACRN hypervisor, Service
+VM, and Pre-Launched RT kernel images are all located on the NVMe drive.
+We recommend installing Ubuntu on the NVMe drive as the Service VM OS,
+which also has the required GRUB image to launch Pre-Launched RT mode.
+Refer to :ref:`Run Ubuntu as the Service VM <Ubuntu Service OS>`, to
+install Ubuntu on the NVMe drive, and use grub to launch the Service VM.
+
+Install Pre-Launched RT Filesystem on SATA and Kernel Image on NVMe
+===================================================================
+
+The Pre-Launched Preempt RT Linux use Clearlinux as rootfs. Refer to
+:ref:`Burn the Preempt-RT VM image onto the SATA disk <install_rtvm>` to
+download the RTVM image and burn it to the SATA drive. The Kernel should
+be on the NVMe drive along with GRUB. You'll need to copy the RT kernel
+to the NVMe drive. Once you have successfully installed and booted
+Ubuntu from the NVMe drive, you'll then need to copy the RT kernel from
+the SATA to the NVMe drive:
+
+.. code-block:: none
+
+   # mount /dev/nvme0n1p1 /boot
+   # mount /dev/sda1 /mnt
+   # cp /mnt/bzImage /boot/EFI/BOOT/bzImage_RT
+
+Build ACRN with Pre-Launched RT Mode
+====================================
+
+The ACRN VM configuration framework can easily configure resources for
+Pre-Launched VMs. On Whiskey Lake WHL-IPC-I5, to passthrough SATA and
+ethernet 03:00.0 devices to the Pre-Launched RT VM, build ACRN with:
+
+.. code-block:: none
+
+   make BOARD_FILE=$PWD/misc/acrn-config/xmls/board-xmls/whl-ipc-i5.xml SCENARIO_FILE=$PWD/misc/acrn-config/xmls/config-xmls/whl-ipc-i5/hybrid_rt.xml
+
+After the build completes, please update ACRN on NVMe. It is
+/boot/EFI/BOOT/acrn.32.out, if /dev/nvme0n1p1 is mounted at /boot.
+
+Add Pre-Launched RT Kernel Image to GRUB Config
+===============================================
+
+The last step is to modify the GRUB configuration file to load the Pre-Launched
+kernel. (For more information about this, see :ref:`Update Grub for the Ubuntu Service VM
+<rt_industry_ubuntu_setup>`.) The grub config file will look something
+like this:
+
+.. code-block:: none
+
+   menuentry 'ACRN Hybrid' {
+       set root=hd1,gpt1
+       echo 'loading hybrid...'
+       multiboot --quirk-modules-after-kernel /EFI/BOOT/acrn.32.out root=/dev/nvme0n1p3
+       module /EFI/BOOT/bzImage_RT RT_bzImage
+       module /EFI/BOOT/bzImage Linux_bzImage
+   }
+
+Reboot the system, and it will boot into Pre-Launched RT Mode
+
+.. code-block:: none
+
+   ACRN:\>vm_list
+   VM_UUID                          VM_ID       VM_NAME                    VM_STATE
+   ================================ ===== ================================ ========
+   26c5e0d88f8a47d88109f201ebd61a5e   0   ACRN PRE-LAUNCHED VM0            Running
+   dbbbd4347a574216a12c2201f1ab0240   1   ACRN SOS VM                      Running
+   ACRN:\>