diff --git a/docker/README.md b/docker/README.md
index 14c39306153..2dc13c925bf 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -4,6 +4,68 @@
 
 Detailed instructions on how to use the containers can be found in the [Open AD Kit documentation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/).
 
+## Development containers
+
+When using Open AD Kit as a development container, it is easy to use Autoware's all-in-one development container image, `ghcr.io/autowarefoundation/autoware:universe-devel-cuda`.
+If you do not need the CUDA drivers, you can also use the smaller image `ghcr.io/autowarefoundation/autoware:universe-devel`.
+
+```shell
+$ git clone git@github.com:autowarefoundation/autoware.git
+$ cd autoware
+$ vcs import src < autoware.repos
+$ docker run -it --rm \
+  –v $PWD/src/universe/autoware.universe/XXX/autoware_YYY:/autoware/src/autoware_YYY \
+  ghcr.io/autowarefoundation/autoware:universe-devel-cuda
+$ colcon build --mixin debug compile-commands
+$ source install/setup.bash
+$ ros2 run --prefix "gdb -ex run --args" autoware_YYY ZZZ
+```
+
+For example, if you want to make modifications to [`autoware.universe/perception/autoware_bytetrack`](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_bytetrack), you can execute the following commands to perform the volume mount and debug build and execution of only the `autoware_bytetrack`.
+
+Note that `gdb` is not currently installed in the development containers, but it would be installed in the near future.
+
+```shell
+$ docker run -it --rm \
+  -v $PWD/src/universe/autoware.universe/perception/autoware_bytetrack:/autoware/src/autoware_bytetrack \
+  ghcr.io/autowarefoundation/autoware:universe-devel-cuda
+$ root@a566e785c4d2:/autoware# colcon build --mixin debug compile-commands
+Starting >>> autoware_bytetrack
+[Processing: autoware_bytetrack]
+Finished <<< autoware_bytetrack [37.9s]
+
+Summary: 1 package finished [38.1s]
+$ root@a566e785c4d2:/autoware# source install/setup.bash
+$ root@a566e785c4d2:/autoware# apt update && apt install gdb
+$ root@a566e785c4d2:/autoware# ros2 run --prefix "gdb -ex run --args" autoware_bytetrack bytetrack_node_exe
+GNU gdb (Ubuntu 12.1-0ubuntu1~22.04.2) 12.1
+...
+[Thread debugging using libthread_db enabled]
+...
+[New Thread 0x7ff6f3fff640 (LWP 1205)]
+Init ByteTrack!
+```
+
+## Runtime containers
+
+In the execution container, there is the all-in-one runtime container for Autoware, `ghcr.io/autowarefoundation/autoware:universe-cuda`, and the multi-containerized `ghcr.io/autowarefoundation/autoware:universe-***-cuda` for each component of Autoware Universe.
+
+The all-in-one execution container also has the autoware_launch package installed, allowing it to be started in the same way as a locally built Autoware.
+
+```shell
+git clone git@github.com:autowarefoundation/autoware.git
+cd autoware
+docker run -it --rm ghcr.io/autowarefoundation/autoware:universe-cuda
+ros2 launch autoware_launch planning_simulator.launch.xml map_path:=...
+```
+
+For example, if you want to run the runtime container that only includes the `sensing/perception` components, you can execute it as follows.
+
+```shell
+docker run -it --rm ghcr.io/autowarefoundation/autoware:universe-sensing-perception-cuda
+ros2 launch autoware_pointcloud_preprocessor preprocessor.launch.xml
+```
+
 ## Multi-stage Dockerfile structure
 
 ![](./Dockerfile.svg)