The purpose of this tutorial is to provide a quick introduction to using DART. We designed many hands-on exercises to make the learning effective and fun. To follow along with this tutorial, first locate the tutorial code in the directory: dart/tutorials. For each of the four tutorials, we provide the skeleton code as the starting point (e.g. tutorialMultiPendulum.cpp) and the final code as the answer to the tutorial (e.g. tutorialMultiPendulum-Finished.cpp). The examples are based on the APIs of DART 6.0.