diff --git a/src/systems/python_system_loader/PythonSystemLoader.hh b/src/systems/python_system_loader/PythonSystemLoader.hh
index eeb3b99b1fc..710589e064c 100644
--- a/src/systems/python_system_loader/PythonSystemLoader.hh
+++ b/src/systems/python_system_loader/PythonSystemLoader.hh
@@ -40,12 +40,28 @@ namespace systems
 /// The convention for a system written in Python supported by the
 /// `PythonSystemLoader` is that it's a Python module providing a `get_system`
 /// function which itself returns an instance of a class that implements the
-/// various interfaces in gz::sim::System.
+/// various interfaces in gz::sim::System. The spelling of the interfaces
+/// conforms to Python code style guides, so the following name mapping applies
+///
+/// * `configure` : Corresponds to System::ISystemConfigure::Configure
+/// * `pre_update` : Corresponds to System::ISystemPreUpdate::PreUpdate
+/// * `update` : Corresponds to System::ISystemUpdate::Update
+/// * `post_update` : Corresponds to System::ISystemPostUpdate::PostUpdate
+/// * `reset` : Corresponds to System::ISystemReset::Reset
+///
+/// It is not necessary to implement all the interfaces. PythonSystemLoader will
+/// check if the corresponding method is implemented in the Python system and
+/// skip it if it's not found.
+///
 /// See examples/scripts/python_api/systems/test_system.py for an example
 ///
 /// ## Parameters
-/// <module_name> : Name of python module to be loaded. The search path includes
-///                 `GZ_SIM_SYSTEM_PLUGIN_PATH` as well as `PYTHONPATH`.
+/// * <module_name> : Name of python module to be loaded. The search path
+///                   includes `GZ_SIM_SYSTEM_PLUGIN_PATH` as well as
+///                   `PYTHONPATH`.
+///
+/// The contents of the <plugin> tag will be available in the configure method
+/// of the Python system
 // TODO(azeey) Add ParameterConfigure
 class GZ_SIM_PYTHON_SYSTEM_LOADER_SYSTEM_HIDDEN PythonSystemLoader final
     : public System,
diff --git a/tutorials/python_interfaces.md b/tutorials/python_interfaces.md
index 8671966b0ce..b9f509ba9bf 100644
--- a/tutorials/python_interfaces.md
+++ b/tutorials/python_interfaces.md
@@ -81,3 +81,66 @@ iterations  1000
 post_iterations  1000
 pre_iterations  1000
 ```
+
+# Gazebo Systems written in Python
+
+Gazebo also provides a way to write systems in Python. This is done using the
+`gz::sim::systems::PythonSystemLoader` system which loads a given python module
+specified by its `<module_name>` parameter. The search path for the module
+includes `GZ_SIM_SYSTEM_PLUGIN_PATH` as well as `PYTHONPATH`. The module is
+expected to provide a function called `get_system` that returns an instance of
+a class that implements the various interfaces in `gz::sim::System`.
+
+Example python system:
+
+<!-- TODO(azeey) Allow including python files in doxygen -->
+<!-- \include examples/scripts/python_api/systems/test_system.py -->
+```python
+
+from gz.math7 import Vector3d
+from gz.sim8 import Model, Link
+import random
+
+
+class TestSystem(object):
+    def __init__(self):
+        self.id = random.randint(1, 100)
+
+    def configure(self, entity, sdf, ecm, event_mgr):
+        self.model = Model(entity)
+        self.link = Link(self.model.canonical_link(ecm))
+        print("Configured on", entity)
+        print("sdf name:", sdf.get_name())
+        self.force = sdf.get_double("force")
+        print(f"Applying {self.force} N on link {self.link.name(ecm)}")
+
+    def pre_update(self, info, ecm):
+        if info.paused:
+            return
+
+        if info.iterations % 3000 == 0:
+            print(f"{self.id} {info.real_time} pre_update")
+
+            self.link.add_world_force(
+                ecm, Vector3d(0, 0, self.force),
+                Vector3d(random.random(), random.random(), 0))
+
+
+def get_system():
+    return TestSystem()
+```
+
+The system can be added to SDFormat model or world with:
+
+```xml
+
+<plugin filename="gz-sim-python-system-loader-system"
+        name="gz::sim::systems::PythonSystemLoader">
+    <module_name>test_system</module_name>
+    <force>100</force>
+    <!-- Extra xml parameters to pass to the module -->
+</plugin>
+```
+
+asuming the name of the module is `test_system` and the directory containing
+the module has been added to `GZ_SIM_SYSTEM_PLUGIN_PATH`,