diff --git a/control/joy_controller/README.md b/control/joy_controller/README.md
index b4d1291b9d5aa..d995cddc3c45f 100644
--- a/control/joy_controller/README.md
+++ b/control/joy_controller/README.md
@@ -42,6 +42,27 @@
 | `max_backward_velocity`   | double | absolute max velocity to go backward                                                                               |
 | `backward_accel_ratio`    | double | ratio to calculate deceleration (commanded acceleration is -ratio \* operation)                                    |
 
+## P65 Joystick Key Map
+
+| Acceleration         | R2                    |
+| -------------------- | --------------------- |
+| Brake                | L2                    |
+| Steering             | Left Stick Left Right |
+| Shift up             | Cursor Up             |
+| Shift down           | Cursor Down           |
+| Shift Drive          | Cursor Left           |
+| Shift Reverse        | Cursor Right          |
+| Turn Signal Left     | L1                    |
+| Turn Signal Right    | R1                    |
+| Clear Turn Signal    | A                     |
+| Gate Mode            | B                     |
+| Emergency Stop       | Select                |
+| Clear Emergency Stop | Start                 |
+| Autoware Engage      | X                     |
+| Autoware Disengage   | Y                     |
+| Vehicle Engage       | PS                    |
+| Vehicle Disengage    | Right Trigger         |
+
 ## DS4 Joystick Key Map
 
 | Acceleration         | R2                                       |