diff --git a/examples/follow_me_example.py b/examples/follow_me_example.py
new file mode 100644
index 00000000..1053c32c
--- /dev/null
+++ b/examples/follow_me_example.py
@@ -0,0 +1,68 @@
+#! /usr/bin/env python3
+
+#This example shows how to use the follow me plugin
+
+import asyncio
+from mavsdk import System
+from mavsdk.follow_me import (Config, FollowMeError, TargetLocation)
+
+default_height = 8.0 #in Meters
+follow_distance = 2.0 #in Meters, this is the distance that the drone will remain away from Target while following it 
+#Direction relative to the Target 
+#Options are NONE, FRONT, FRONT_LEFT, FRONT_RIGHT, BEHIND
+direction = Config.FollowDirection.BEHIND
+responsiveness =  0.02
+
+#This list contains fake location coordinates (These coordinates are obtained from mission.py example)
+fake_location = [[47.398039859999997,8.5455725400000002],[47.398036222362471,8.5450146439425509],[47.397825620791885,8.5450092830163271]]
+
+async def fly_drone():
+    drone = System()
+    await drone.connect(system_address="udp://:14540")
+    
+    #This waits till a mavlink based drone is connected
+    async for state in drone.core.connection_state():
+        if state.is_connected:
+            print(f"-- Connected to drone with UUID: {state.uuid}")
+            break
+    
+    #Checking if Global Position Estimate is ok
+    async for global_lock in drone.telemetry.health():
+        if global_lock.is_global_position_ok:
+            print("-- Global position state is good enough for flying.")
+            break
+    
+    #Arming the drone
+    print ("-- Arming")
+    await drone.action.arm()
+    
+    #Follow me Mode requires some configuration to be done before starting the mode
+    conf = Config(default_height, follow_distance, direction, responsiveness)
+    await drone.follow_me.set_config(conf)
+    
+    print ("-- Taking Off")
+    await drone.action.takeoff()
+    await asyncio.sleep(8)
+    print ("-- Starting Follow Me Mode")
+    await drone.follow_me.start()
+    await asyncio.sleep(8)
+
+    #This for loop provides fake coordinates from the fake_location list for the follow me mode to work
+    #In a simulator it won't make much sense though
+    for latitude,longitude in fake_location:
+        target = TargetLocation(latitude, longitude, 0, 0, 0, 0)
+        print ("-- Following Target")
+        await drone.follow_me.set_target_location(target)
+        await asyncio.sleep(2)
+    
+    #Stopping the follow me mode
+    print ("-- Stopping Follow Me Mode")
+    await drone.follow_me.stop()
+    await asyncio.sleep(5)
+    
+    print ("-- Landing")
+    await drone.action.land()
+
+if __name__ == "__main__":
+    loop = asyncio.get_event_loop()
+    loop.run_until_complete(fly_drone())
diff --git a/examples/goto.py b/examples/goto.py
index 8a034dfc..f4f76c58 100755
--- a/examples/goto.py
+++ b/examples/goto.py
@@ -20,6 +20,11 @@ async def run():
             print("Global position estimate ok")
             break
 
+    print("Fetching amsl altitude at home location....")
+    async for terrain_info in drone.telemetry.home():
+        absolute_altitude = terrain_info.absolute_altitude_m
+        break
+
     print("-- Arming")
     await drone.action.arm()
 
@@ -27,8 +32,9 @@ async def run():
     await drone.action.takeoff()
 
     await asyncio.sleep(1)
-
-    await drone.action.goto_location(47.399386, 8.535245, 500, float('nan'))
+    flying_alt = absolute_altitude + 20.0 #To fly drone 20m above the ground plane
+    #goto_location() takes Absolute MSL altitude 
+    await drone.action.goto_location(47.399386, 8.535245, flying_alt, 0)
 
 if __name__ == "__main__":
     loop = asyncio.get_event_loop()