diff --git a/datalogtool/src/main/native/cpp/App.cpp b/datalogtool/src/main/native/cpp/App.cpp
index 7a5cd4e11e..87f90f2aa1 100644
--- a/datalogtool/src/main/native/cpp/App.cpp
+++ b/datalogtool/src/main/native/cpp/App.cpp
@@ -16,6 +16,7 @@
 #include <imgui.h>
 #include <imgui_internal.h>
 #include <wpigui.h>
+#include <wpigui_openurl.h>
 
 #include "Downloader.h"
 #include "Exporter.h"
@@ -92,6 +93,15 @@ static void DisplayMainMenu() {
     ImGui::EndMenu();
   }
 
+  if (ImGui::BeginMenu("Docs")) {
+    if (ImGui::MenuItem("Online documentation")) {
+      wpi::gui::OpenURL(
+          "https://docs.wpilib.org/en/stable/docs/software/telemetry/"
+          "datalog.html");
+    }
+    ImGui::EndMenu();
+  }
+
   ImGui::EndMainMenuBar();
 
   if (about) {
diff --git a/glass/src/app/native/cpp/main.cpp b/glass/src/app/native/cpp/main.cpp
index 02593f730e..0b3473c15c 100644
--- a/glass/src/app/native/cpp/main.cpp
+++ b/glass/src/app/native/cpp/main.cpp
@@ -10,6 +10,7 @@
 #include <ntcore_cpp.h>
 #include <wpi/StringExtras.h>
 #include <wpigui.h>
+#include <wpigui_openurl.h>
 
 #include "glass/Context.h"
 #include "glass/MainMenuBar.h"
@@ -282,6 +283,15 @@ int main(int argc, char** argv) {
       }
       ImGui::EndMenu();
     }
+
+    if (ImGui::BeginMenu("Docs")) {
+      if (ImGui::MenuItem("Online documentation")) {
+        wpi::gui::OpenURL(
+            "https://docs.wpilib.org/en/stable/docs/software/dashboards/"
+            "glass/");
+      }
+      ImGui::EndMenu();
+    }
   });
 
   gui::AddLateExecute([] {
diff --git a/outlineviewer/src/main/native/cpp/main.cpp b/outlineviewer/src/main/native/cpp/main.cpp
index ea74458b7d..03107569fd 100644
--- a/outlineviewer/src/main/native/cpp/main.cpp
+++ b/outlineviewer/src/main/native/cpp/main.cpp
@@ -16,6 +16,7 @@
 #include <imgui.h>
 #include <ntcore_cpp.h>
 #include <wpigui.h>
+#include <wpigui_openurl.h>
 
 namespace gui = wpi::gui;
 
@@ -157,6 +158,15 @@ static void DisplayGui() {
     }
     ImGui::EndMenu();
   }
+
+  if (ImGui::BeginMenu("Docs")) {
+    if (ImGui::MenuItem("Online documentation")) {
+      wpi::gui::OpenURL(
+          "https://docs.wpilib.org/en/stable/docs/software/wpilib-tools/"
+          "outlineviewer/");
+    }
+    ImGui::EndMenu();
+  }
   ImGui::EndMenuBar();
 
   // settings popup