diff --git a/doc/tutorials/getting_started/getting_started.rst b/doc/tutorials/getting_started/getting_started.rst
index 4f90b24b7c..8492b0af6c 100644
--- a/doc/tutorials/getting_started/getting_started.rst
+++ b/doc/tutorials/getting_started/getting_started.rst
@@ -49,6 +49,8 @@ Install `vcstool <https://index.ros.org/d/python3-vcstool/>`_ : ::
 
   sudo apt install python3-vcstool
 
+.. _create_colcon_workspace:
+
 Create A Colcon Workspace and Download Tutorials
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 For tutorials you will need to have a :ros_documentation:`colcon <Tutorials/Colcon-Tutorial.html#install-colcon>` workspace setup. ::
@@ -106,6 +108,8 @@ Optional: add the previous command to your ``.bashrc``: ::
    not required and often skipped by advanced users who use more than one
    Colcon workspace at a time, but we recommend it for simplicity.
 
+.. _cyclone_dds:
+
 Switch to Cyclone DDS
 ^^^^^^^^^^^^^^^^^^^^^
 
diff --git a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst
index e5af9d01c1..f95647b497 100644
--- a/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst
+++ b/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.rst
@@ -7,7 +7,9 @@ This tutorial will teach you how to create motion plans in MoveIt using RViz and
 
 Getting Started
 ---------------
-If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`. If you followed the Docker Guide, also follow the second part of the Getting Started tutorial (from :ref:`Create a Colcon Workspace and Download Tutorials <doc/tutorials/getting_started/getting_started.html:create a colcon workspace and download tutorials>` onwards) to set up the tutorials. As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described there.
+If you haven't already done so, make sure you've completed the steps in :doc:`Getting Started </doc/tutorials/getting_started/getting_started>` or our :doc:`Docker Guide </doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu>`.
+If you followed the Docker Guide, also follow the to :ref:`create_colcon_workspace` guide onwards to set up the tutorials.
+As of Sep 26, 2022, ensure you have enabled Cyclone DDS as described in :ref:`cyclone_dds`.
 
 Step 1: Launch the Demo and Configure the Plugin
 ------------------------------------------------