diff --git a/README.md b/README.md
index 41edc5d..63f1104 100644
--- a/README.md
+++ b/README.md
@@ -6,17 +6,21 @@ cd ~
 mkdir OscillationControlWithCircle
 
 3: Run the command git clone https://git.spirirobotics.com/scorpio1/OscillationControlWithCircle.git
+This will create a copy of the OscillationControlWithCircle files in the folder you just created
 
 4: Run the command cd OscillationControlWithCircle
+This will move you into the OscillationControlWithCircle folder
 
 5: Run the command chmod u+x setup.bash
+This will set it so you can execute the setup script
 
 6: Run the command ./setup.bash
+This will copy the the files from src into the src folder of the oscillation_ctrl package, and the files from launch into the launch folder.
 
 7: Move into your catkin_ws directory (cd ~/catkin_ws)
 
-8: Rebuild your catkin_ws using the command catkin build
-
+8: Run the command catkin build
+This will rebuild your catkin workspace, making sure the changes all work.
 
 Running the demo:
 You are now ready to run the circle demo. You can do so by running the command