diff --git a/source/docs/software/wpilib-tools/robot-simulation/images/vscode-pick-extension.png b/source/docs/software/wpilib-tools/robot-simulation/images/vscode-pick-extension.png
index 18874d7f72..4b19972760 100644
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diff --git a/source/docs/software/wpilib-tools/robot-simulation/images/vscode-run-bad.png b/source/docs/software/wpilib-tools/robot-simulation/images/vscode-run-bad.png
new file mode 100644
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diff --git a/source/docs/software/wpilib-tools/robot-simulation/introduction.rst b/source/docs/software/wpilib-tools/robot-simulation/introduction.rst
index ebfeb83e40..42d1333228 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/introduction.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/introduction.rst
@@ -33,12 +33,15 @@ Often a team may want to test their code without having an actual robot availabl
 
       **Running Robot Simulation**
 
-      Basic robot simulation can be run using VS Code. This can be done without using any commands by using VS Code's command palette.
+      Basic robot simulation can be run using VS Code. This can be done by using VS Code's command palette :guilabel:`WPILib: Simulate Robot Code` as shown below.
 
       .. image:: images/vscode-run-simulation.png
          :alt: Running robot simulation through VS Code
+      
+      .. image:: images/vscode-pick-extension.png
+         :alt: Picking Sim GUI simulation extension
 
-      Your console output in Visual Studio Code should look like the below. However, teams probably will want to actually *test* their code versus just running the simulation. This can be done using :doc:`WPILib's Simulation GUI <simulation-gui>`.
+      By default the :guilabel:`Sim GUI` option will be selected by default. This will launch the :doc:`Simulation GUI <simulation-gui>`. You can also launch simulation without a GUI by unchecking :guilabel:`Sim GUI` in which case your console output in Visual Studio Code should look like the below.
 
       ```console
       ********** Robot program starting **********
@@ -47,7 +50,12 @@ Often a team may want to test their code without having an actual robot availabl
       Default robotPeriodic() method... Override me!
       ```
 
-      .. important:: Simulation can also be run outside of VS Code using ``./gradlew simulateJava`` for Java or ``./gradlew simulateNative`` for C++.
+      .. warning:: You may see a run button next to the WPILib button. This button does not set up simulation appropriately and should not be used. Instead, the menu item shown above :guilabel:`WPILib: Simulate Robot Code` should be used.
+
+         .. image:: images/vscode-run-bad.png
+            :alt: Run button to the left of the WPIlib Button
+
+      .. note:: Simulation can also be run outside of VS Code using ``./gradlew simulateJava`` for Java or ``./gradlew simulateNative`` for C++.
 
       .. note:: Some vendors support attaching hardware to your PC and using the hardware in desktop simulation (e.g. CANivore). See :doc:`vendor documentation </docs/software/vscode-overview/wpilib-commands-vscode>` for more information about the command `WPILib: Hardware Sim Robot Code`.
 
diff --git a/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst b/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
index f364fa26f1..4f133c0e46 100644
--- a/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
+++ b/source/docs/software/wpilib-tools/robot-simulation/simulation-gui.rst
@@ -11,16 +11,21 @@ WPILib has extended robot simulation to introduce a graphical user interface (GU
 .. image:: images/vscode-run-simulation.png
    :alt: Running simulation via VS Code
 
-You can simply launch the GUI via the **Run Simulation** command palette option.
+You can simply launch the GUI via the :guilabel:`Simulate Robot Code` command palette option.
 
 .. image:: images/vscode-pick-extension.png
    :alt: Picking Sim GUI simulation extension
 
-And the ``Sim GUI`` option should popup in a new dialog and will be selected by default. Press :guilabel:`Ok`. This will now launch the Simulation GUI!
+And the :guilabel:`Sim GUI` option should popup in a new dialog and will be selected by default. Press :guilabel:`Ok`. This will now launch the Simulation GUI.
 
 .. image:: images/sim-gui.png
    :alt: The simulation graphical user interface
 
+.. warning:: You may see a run button next to the WPILib button. This button does not set up simulation appropriately and should not be used. Instead, the menu item shown above :guilabel:`WPILib: Simulate Robot Code` should be used.
+
+   .. image:: images/vscode-run-bad.png
+      :alt: Run button to the left of the WPIlib Button
+
 ## Using the GUI
 
 ### Learning the Layout