diff --git a/docs/choreolib/auto-routines.md b/docs/choreolib/auto-routines.md
index c58e1f7f44..ef93b1e5ae 100644
--- a/docs/choreolib/auto-routines.md
+++ b/docs/choreolib/auto-routines.md
@@ -1,7 +1,6 @@
 # Auto Routines
 
-Choreolib provides a higher level API to make it easier to create competitive and complex auto routines inside your robot code.
-This is done by providing the `AutoFactory` class.
+ChoreoLib provides the `AutoFactory` class as higher level API to make it easier to create competitive and complex auto routines inside your robot code.
 
 ## Triggers vs Composition
 
diff --git a/docs/choreolib/basic-usage.md b/docs/choreolib/basic-usage.md
new file mode 100644
index 0000000000..04a3c3a183
--- /dev/null
+++ b/docs/choreolib/basic-usage.md
@@ -0,0 +1,33 @@
+# Basic Usage
+
+Teams that want to use their own path following structure can load trajectories directly with the following code.
+
+``` { .java .select }
+import java.util.Optional;
+
+import choreo.Choreo;
+import choreo.trajectory.ChoreoTrajectory;
+import choreo.trajectory.SwerveSample;
+
+// Loading a trajectory from a file, returns an optional if the file does not exist or is invalid
+var trajectory = Choreo.loadTrajectory("myTrajectory");
+
+if (trajectory.isPresent()) {
+    // Do something with the trajectory
+    drive.followTrajectory(trajectory.get()).schedule();
+} else {
+    // If the trajectory is not found choreolib already prints to DriverStation
+}
+```
+
+``` { .cpp .select }
+#include <choreo/Choreo.h>
+
+// Loading a trajectory from a file, returns an optional if the file does not exist or is invalid
+if (auto trajectory = choreo::LoadTrajectory("myTrajectory")) {
+    // Do something with the trajectory
+    drive.followTrajectory(trajectory.value()).schedule();
+} else {
+    // If the trajectory is not found choreolib already prints to DriverStation
+}
+```
diff --git a/docs/choreolib/lowlevel-usage.md b/docs/choreolib/lowlevel-usage.md
deleted file mode 100644
index f56f018d39..0000000000
--- a/docs/choreolib/lowlevel-usage.md
+++ /dev/null
@@ -1,24 +0,0 @@
-# Low-level usage
-
-Choreolib aims to support a wide range of use cases.
-Many teams like to use their own path following structure and this was somewhat encouraged in 2023.
-To not leave these teams behind, Choreolib provides a lower level API that allows you to directly load trajectories
-and use them in your own path following code.
-
-``` { .java .select }
-import java.util.Optional;
-
-import choreo.Choreo;
-import choreo.trajectory.ChoreoTrajectory;
-import choreo.trajectory.SwerveSample;
-
-// Loading a trajectory from a file, returns an optional if the file does not exist or is invalid
-Optional<ChoreoTrajectory<SwerveSample>> optTrajectory = Choreo.getTrajectory("myTrajectory");
-
-if (optTrajectory.isPresent()) {
-    // do something with the trajectory
-    drive.followTrajectory(optTrajectory.get()).schedule();
-} else {
-    // if the trajectory is not found choreolib already prints to DriverStation
-}
-```
diff --git a/docs/choreolib/samples.md b/docs/choreolib/samples.md
index a95e780443..ceb8ea9c5e 100644
--- a/docs/choreolib/samples.md
+++ b/docs/choreolib/samples.md
@@ -1,7 +1,6 @@
 # Samples
 
-Choreolib supports swerve and differential drive systems.
-The only usage difference between using swerve and differential is the type of the sample used.
+ChoreoLib supports swerve and differential drive systems. The only usage difference between using swerve and differential is the type of the sample used.
 
 ## Swerve Drive
 
diff --git a/mkdocs.yml b/mkdocs.yml
index 9f5ac95f79..7cc383101a 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -94,7 +94,9 @@ nav:
       - Estimating Moment of Inertia: usage/estimating-moi.md
   - ChoreoLib:
       - Installation: choreolib/installation.md
-      - Usage: choreolib/usage.md
+      - Basic Usage: choreolib/basic-usage.md
+      - Samples: choreolib/samples.md
+      - Auto Routines: choreolib/auto-routines.md
       - Java API: api/choreolib/java/index.html
       - C++ API: api/choreolib/cpp/index.html
   - TrajoptLib: