diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5d8b4f860faa6..521a817906960 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -24,7 +24,7 @@ project(dart)
 
 set(DART_MAJOR_VERSION "5")
 set(DART_MINOR_VERSION "0")
-set(DART_PATCH_VERSION "1")
+set(DART_PATCH_VERSION "2")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "flann, ccd, fcl")
diff --git a/Changelog.md b/Changelog.md
index 33179f8239536..c18c68911e901 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -1,3 +1,9 @@
+### Version 5.0.2 (2015-09-28)
+
+1. Fixed bug in Jacobian update notifications
+    * [Pull request #500](https://github.com/dartsim/dart/pull/500)
+    * [Issue #499](https://github.com/dartsim/dart/issues/499)
+
 ### Version 5.0.1 (2015-07-28)
 
 1. Improved app indexing for bipedStand and atlasSimbicon
diff --git a/debian/changelog b/debian/changelog
index 64e8f16648edf..bbd3b12ae9012 100644
--- a/debian/changelog
+++ b/debian/changelog
@@ -1,3 +1,9 @@
+dart (5.0.2) unstable; urgency=medium
+
+  * Fixed bug in Jacobian update notifications
+
+ -- Jeongseok Lee <jslee02@gmail.com>  Mon, 28 Sep 2015 12:00:00 -0500
+
 dart (5.0.1) unstable; urgency=low
 
   * Improved app indexing for bipedStand and atlasSimbicon