diff --git a/CITATION.bib b/CITATION.bib
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--- /dev/null
+++ b/CITATION.bib
@@ -0,0 +1,12 @@
+@article{Lee2018,
+  doi       = {10.21105/joss.00500},
+  url       = {https://doi.org/10.21105/joss.00500},
+  year      = {2018},
+  publisher = {The Open Journal},
+  volume    = {3},
+  number    = {22},
+  pages     = {500},
+  author    = {Jeongseok Lee and Michael X. Grey and Sehoon Ha and Tobias Kunz and Sumit Jain and Yuting Ye and Siddhartha S. Srinivasa and Mike Stilman and C. Karen Liu},
+  title     = {DART: Dynamic Animation and Robotics Toolkit},
+  journal   = {Journal of Open Source Software}
+}
\ No newline at end of file
diff --git a/CITATION.cff b/CITATION.cff
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+++ b/CITATION.cff
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+cff-version: 1.2.0
+message: "If you use DART in an academic publication, please consider citing this JOSS Paper as below."
+authors:
+  - family-names: "Lee"
+    given-names: "Jeongseok"
+    orcid: "https://orcid.org/0000-0002-2146-7502"
+  - family-names: "Grey"
+    given-names: "Michael X."
+  - family-names: "Ha"
+    given-names: "Sehoon"
+  - family-names: "Kunz"
+    given-names: "Tobias"
+  - family-names: "Jain"
+    given-names: "Sumit"
+  - family-names: "Ye"
+    given-names: "Yuting"
+  - family-names: "Srinivasa"
+    given-names: "Siddhartha S."
+  - family-names: "Stilman"
+    given-names: "Mike"
+  - family-names: "Liu"
+    given-names: "C. Karen"
+title: "DART: Dynamic Animation and Robotics Toolkit"
+version: 6.13.0
+doi: 10.5281/zenodo.7542588
+date-released: 2023-01-17
+url: "https://github.com/dartsim/dart/tree/v6.13.0"
+preferred-citation:
+  type: article
+  authors:
+    - family-names: "Lee"
+      given-names: "Jeongseok"
+      orcid: "https://orcid.org/0000-0002-2146-7502"
+    - family-names: "Grey"
+      given-names: "Michael X."
+    - family-names: "Ha"
+      given-names: "Sehoon"
+    - family-names: "Kunz"
+      given-names: "Tobias"
+    - family-names: "Jain"
+      given-names: "Sumit"
+    - family-names: "Ye"
+      given-names: "Yuting"
+    - family-names: "Srinivasa"
+      given-names: "Siddhartha S."
+    - family-names: "Stilman"
+      given-names: "Mike"
+    - family-names: "Liu"
+      given-names: "C. Karen"
+  doi: 10.21105/joss.00500
+  journal: "Journal of Open Source Software"
+  month: 2
+  start: 500
+  end: 500
+  title: "DART: Dynamic Animation and Robotics Toolkit"
+  issue: 22
+  volume: 3
+  year: 2018