diff --git a/docs/contributing/feedback.md b/docs/contributing/feedback.md
new file mode 100644
index 0000000000..335d24e13a
--- /dev/null
+++ b/docs/contributing/feedback.md
@@ -0,0 +1,36 @@
+# How to Give Feedback
+
+Feedback is one of the highest leverage ways to contribute to openpilot as a user.
+
+## Driving
+
+Got feedback about how your car drives?
+Join the community Discord, then use the form in `#submit-feedback`.
+
+Before posting feedback, please ensure:
+
+- **openpilot is up to date** you should be on the latest openpilot release or nightly
+- **both road-facing cameras have a clear view** your windshield is clean, lenses are clean, etc.
+- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
+
+## Driver Monitoring
+
+If you find DM annoying while being perfectly attentive, these are likely false positives and we want to fix them!
+In general, driver monitoring feedback is very actionable, and we can fix your complaint within a release cycle.
+
+To post your feedback:
+
+1. Join the [community Discord](https://discord.comma.ai).
+2. If driver camera recording is toggled off, temporarily enable driver camera recording in the settings until you reproduce the issue.
+3. Using comma connect, identify the relevant segment and upload the segment's logs and driver camera.
+4. Post the segment in the `#openpilot-experience` channel on Discord with a good description.
+
+Before posting feedback, please ensure:
+
+- **openpilot is up to date** you should be on the latest openpilot release or nightly
+- **the driver camera has a clear view of the driver** ensure nothing blocks view of the driver (e.g. a cable), the lens is clean, etc.
+- **your device is mounted properly** your device must be mounted horizontally center and relatively high on the windshield
+
+## Other bugs
+
+Got an issue with something else? Open an issue on our [GitHub issue tracker](https://github.com/commaai/openpilot/issues/new/choose).
diff --git a/zensical.toml b/zensical.toml
index 7e30c547a0..7e5ca2c5db 100644
--- a/zensical.toml
+++ b/zensical.toml
@@ -21,6 +21,7 @@ nav = [
     { "Glossary" = "concepts/glossary.md" },
   ] },
   { "Contributing" = [
+    { "Feedback" = "contributing/feedback.md" },
     { "Roadmap" = "contributing/roadmap.md" },
     { "Contributing Guide →" = "https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md" },
   ] },