diff --git a/.github/workflows/publish-docs.yml b/.github/workflows/publish-docs.yml
index 425add3c..e2d96c5c 100644
--- a/.github/workflows/publish-docs.yml
+++ b/.github/workflows/publish-docs.yml
@@ -29,12 +29,34 @@ jobs:
         with:
           working-directory: pathplannerlib
       
-      - name: Move to docs dir
+      - name: Set up Python 3.10
+        uses: actions/setup-python@v3
+        with:
+          python-version: "3.10"
+      
+      - name: Install python dependencies
+        working-directory: ./pathplannerlib-python
+        run: |
+          python -m pip install --upgrade pip
+          pip install build handsdown mkdocs mkdocs-material
+          if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+      
+      - name: Generate python docs
+        working-directory: ./pathplannerlib-python
+        run: |
+          handsdown --external https://github.com/mjansen4857/pathplanner.git -o docsmd -n pathplannerlib --theme=material --create-configs include pathplannerlib
+          python -m mkdocs build
+      
+      - name: Move java/cpp to docs dir
         working-directory: pathplannerlib/build/docs
         run: |
             mkdir docs
             sudo mv javadoc docs/java
             sudo mv cpp/html docs/cpp
+      
+      - name: Move python to docs dir
+        run: |
+          sudo mv pathplannerlib-python/docs pathplannerlib/build/docs/docs/python
 
       - name: Deploy generated documentation to GitHub Pages
         uses: s0/git-publish-subdir-action@v2.6.0
diff --git a/pathplannerlib-python/.gitignore b/pathplannerlib-python/.gitignore
index 7994f46c..4a5a185b 100644
--- a/pathplannerlib-python/.gitignore
+++ b/pathplannerlib-python/.gitignore
@@ -1,2 +1,4 @@
 /dist
-/*.egg-info
\ No newline at end of file
+/*.egg-info
+/docs
+/docsmd
\ No newline at end of file