diff --git a/Cargo.toml b/Cargo.toml
index ae8c288..08eef8f 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -16,6 +16,7 @@ num-traits = "0.2"
 [dev-dependencies]
 assert_approx_eq = "1"
 gnuplot = "0.0"
+rerun = "0.19"
 
 [lints]
 workspace = true
diff --git a/examples/rerun.rs b/examples/rerun.rs
new file mode 100644
index 0000000..d6d9930
--- /dev/null
+++ b/examples/rerun.rs
@@ -0,0 +1,32 @@
+use trajectory::CubicSpline;
+use trajectory::Trajectory;
+
+fn main() -> Result<(), Box<dyn std::error::Error>> {
+    let rec = rerun::RecordingStreamBuilder::new("trajectory").spawn()?;
+
+    let times = vec![0.0, 1.0, 3.0, 4.0];
+    let points = vec![
+        vec![0.0, -1.0],
+        vec![2.0, -3.0],
+        vec![3.0, 3.0],
+        vec![1.0, 5.0],
+    ];
+    let ip = CubicSpline::new(times, points).unwrap();
+
+    for i in 0..400 {
+        let t = i as f64 * 0.01;
+        let p = ip.position(t).unwrap();
+        let v = ip.velocity(t).unwrap();
+        let a = ip.acceleration(t).unwrap();
+
+        rec.set_time_seconds("time", t);
+        rec.log("x/trajectory/position", &rerun::Scalar::new(p[0]))?;
+        rec.log("y/trajectory/position", &rerun::Scalar::new(p[1]))?;
+        rec.log("x/trajectory/velocity", &rerun::Scalar::new(v[0]))?;
+        rec.log("y/trajectory/velocity", &rerun::Scalar::new(v[1]))?;
+        rec.log("x/trajectory/acceleration", &rerun::Scalar::new(a[0]))?;
+        rec.log("y/trajectory/acceleration", &rerun::Scalar::new(a[1]))?;
+    }
+
+    Ok(())
+}