diff --git a/common/source/docs/common-mavlink-mission-command-messages-mav_cmd.rst b/common/source/docs/common-mavlink-mission-command-messages-mav_cmd.rst
index 10e6a6473a..2f53db1534 100644
--- a/common/source/docs/common-mavlink-mission-command-messages-mav_cmd.rst
+++ b/common/source/docs/common-mavlink-mission-command-messages-mav_cmd.rst
@@ -2328,7 +2328,12 @@ mission, or it can be repeated indefinitely.
 
 **Mission planner screenshots**
 
-TODO
+.. figure:: ../../../images/MissionList_DoJump_Tag.png
+   :target: ../_images/MissionList_DoJump_Tag.png
+
+   Mission Planner Settings for DO_JUMP_TAG command
+
+   In the example above, the vehicle would fly back-and-forth between waypoints #3 and #4 a total of 3 times before completing the mission. This is because the DO_JUMP_TAG redirects the vehicle to JUMP_TAG #565 twice.
 
 Conditional commands
 ====================
diff --git a/images/MissionList_DoJump_Tag.png b/images/MissionList_DoJump_Tag.png
new file mode 100644
index 0000000000..5fa04888cf
Binary files /dev/null and b/images/MissionList_DoJump_Tag.png differ