diff --git a/common/source/docs/common-do-return-path-start.rst b/common/source/docs/common-do-return-path-start.rst
new file mode 100644
index 0000000000..47d4177c05
--- /dev/null
+++ b/common/source/docs/common-do-return-path-start.rst
@@ -0,0 +1,25 @@
+.. _common-do-return-path-start:
+
+==========================================
+Using DO_RETURN_PATH_START Mission Command
+==========================================
+
+While the :ref:`DO_LAND_START <common-do-land-start>` mission command provides a means of defining a "landing sequence" that can be directly jumped to for autolandings or failsafe actions, in some cases this direct path might result in breaching fences or flying into obstacles.
+
+The DO_RETURN_PATH_START mission command can be used to mark a place or places in the mission sequence, before the :ref:`DO_LAND_START <common-do-land-start>`, that the vehicle should directly rejoin the mission path at the closet point on the mission leading toward the :ref:`DO_LAND_START <common-do-land-start>` sequence, rather than directly to the :ref:`DO_LAND_START <common-do-land-start>`. As shown below:
+
+.. image:: ../../../images/do-return-path-start.jpg
+    :target: ../_images/do-return-path-start.jpg
+
+Imagine above that the vehicle takes off, flies to WP2 and 3, and if one were to fly up and look at the lake but then have a failsafe, the vehicle would fly directly back to the DO_LAND_START tag, crashing thru the tree, exclusion fence, etc. But if a DO_RETURN_PATH_START mission item is inserted after WP 3, then the vehicle would return to the mission path, proceed to the waypoint after the DO_LAND_START tag and LAND safely.
+
+Multiple DO_RETURN_PATH_START items can be placed in the mission sequence to tailor the return. It is not necessary that the sequence include a :ref:`DO_LAND_START <common-do-land-start>`, but if it does, the return to the mission will occur after the DO_RETURN_PATH_START mission command but before the :ref:`DO_LAND_START <common-do-land-start>`.
+
+[site wiki="plane"]
+In Plane, set :ref:`RTL_AUTOLAND<RTL_AUTOLAND>` to 4 to use this.
+[/site]
+[site wiki="copter"]
+In Copter, set any failsafe action to DO_LAND_START, whether or not one exists in the mission.
+
+.. note:: if a DO_LAND_START or DO_RETURN_PATH_START does not exist in the mission, RTL will occur.
+[/site]
\ No newline at end of file
diff --git a/common/source/docs/common-mission-planning.rst b/common/source/docs/common-mission-planning.rst
index 0c2c5577fa..40eeb15c73 100644
--- a/common/source/docs/common-mission-planning.rst
+++ b/common/source/docs/common-mission-planning.rst
@@ -16,20 +16,21 @@ This section contains articles about creating missions that will run when the ve
 
 .. toctree::
     :maxdepth: 1
-    
+
 [site wiki="rover,copter"]
     Recording Waypoints for a Mission <common-learning-a-mission>
-[/site] 
+[/site]
 
     Planning a Mission with Waypoints and Events <common-planning-a-mission-with-waypoints-and-events>
 [site wiki="copter"]
     mission-command-list
 [/site]
-    
+
     Mission Command List <common-mavlink-mission-command-messages-mav_cmd>
     Camera Control in Auto Missions <common-camera-control-and-auto-missions-in-mission-planner>
     Rally Points <common-rally-points>
     DO_LAND_START <common-do-land-start>
+    DO_RETURN_PATH_START <common-do-return-path-start>
     Geotagging Images with Mission Planner <common-geotagging-images-with-mission-planner>
 
 [site wiki="plane"]
diff --git a/images/do-return-path-start.jpg b/images/do-return-path-start.jpg
new file mode 100644
index 0000000000..284d42ba1d
Binary files /dev/null and b/images/do-return-path-start.jpg differ