diff --git a/src/SUMMARY.md b/src/SUMMARY.md
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+++ b/src/SUMMARY.md
@@ -9,6 +9,7 @@
   - [The ROS Command Line Interface](./ros2_cli.md)
   - [The ROS API](./ros2_api.md)
 - [Traffic Editor](./traffic-editor.md)
+- [RMF Site Editor](./rmf-site-editor.md)
 - [Simulation](./simulation.md)
 - [RMF Core Overview](./rmf-core.md)
   - [Frequently Asked Questions](./rmf-core_faq.md)
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+# RMF Site Editor
+
+This section describes the RMF Site Editor GUI and provides a guide for building a world.
+
+## Overview
+
+The `rmf_site` [repository](https://github.com/open-rmf/rmf_site) is home to the RMF Site Editor which serves as a replacement to the  `traffic_editor` [repository](https://github.com/open-rmf/rmf_traffic_editor) and is the recommended approach for visualizing and editing RMF sites.
+
+
+## GUI Layout
+
+In the sections below, we will provide a detailed breakdown of the `rmf_site` GUI which includes a `Toolbar`, a `Working Area` and a `Sidebar` as seen in the figure below:
+
+![RMF Site Editor GUI](images/rmf_site/layout.png)
+
+### Toolbar
+
+The toolbar located at the top contains a variety of tools for site creation which includes adding robot traffic lanes, creation of doors, walls, lifts and simulated flooring, adding virtual models and importing drawings.
+
+![Top Menu Bar](images/rmf_site/top_menu_bar.png)
+
+The functions of the individual menu buttons are explained below:
+
+|                    Icon                           |  Name  |                Function               |
+|:-------------------------------------------------:|:------:|:------------------------------------:|
+| ![Lane](images/rmf_site/icons/lane.png) | Lane | Create a new traffic lane |
+| ![Location](images/rmf_site/icons/location.png) | Location | Create a new location |
+| ![Wall](images/rmf_site/icons/wall.png) | Wall | Create a new wall |
+| ![Door](images/rmf_site/icons/door.png) | Door | Create a new door |
+| ![Lift](images/rmf_site/icons/lift.png) | Lift | Add a new lift. The lifts define the point of access between different floors of a building. |
+| ![Floor](images/rmf_site/icons/floor.png) | Floor | Add a new building floor. |
+| ![Fiducials](images/rmf_site/icons/fiducial.png) | Fiducial | Add a new fiducial. Fiducials act as a means to scale and align different levels with respect to a reference level. |
+| ![Drawing](images/rmf_site/icons/drawing.png) | Drawing | Import a new drawing |
+| ![Model](images/rmf_site/icons/model.png) | Model | Spawn a new virtual model from a new or existing model description |
+| ![Fuel Asset Browser](images/rmf_site/icons/fuel_asset_browser.png) | Fuel Asset Browser | Opens the Gazebo Fuel asset gallery |
+
+### Working Area
+
+The `Working Area` is where the levels, along with their annotations, are rendered. Here, the user can zoom, pan and rotate using the mouse.
+
+Panning, zooming and rotation in the world is primarily achieved using the different mouse buttons.
+
+Pan around the world by holding down the right mouse button:
+
+![Panning](images/rmf_site/interaction/panning.gif)
+
+Rotate about a fixed point by holding down the middle mouse wheel:
+
+![Rotation about a fixed point](images/rmf_site/interaction/rotation_about_fixed_point.gif)
+
+Zoom using by scrolling the middle mouse wheel:
+
+![Zooming](images/rmf_site/interaction/zooming.gif)
+
+### Sidebar
+
+<!-- TODO(@johntgz) Add a picture of the sidebar -->
+
+The `Sidebar` on the right side of the window contains multiple tabs with various functionalities:
+* **Levels:** to add a new level to the building or switch between existing levels of the building.
+* **Scenarios:** TODO(@johntgz)
+* **Models:** TODO(@johntgz)
+* **Navigation:** TODO(@johntgz)
+
+* **Layers:** to control the overlap of different image layers by controlling settings such as transparency. Some commonly used image layers are lidar maps or building drawings.
+* **Tasks:** TODO(@johntgz)
+
+* **Inspect:** TODO(@johntgz)
+* **Groups:** TODO(@johntgz)
+* **Lights:** to control the lighting in the scene by configuring existing lights or adding new light sources
+