diff --git a/examples/pybullet/examples/video_sync_mp4.py b/examples/pybullet/examples/video_sync_mp4.py
new file mode 100644
index 000000000..ba8956bec
--- /dev/null
+++ b/examples/pybullet/examples/video_sync_mp4.py
@@ -0,0 +1,24 @@
+import pybullet as p
+import time
+
+#by default, PyBullet runs at 240Hz
+p.connect(p.GUI, options="--mp4=\"test.mp4\" --mp4fps=240")
+p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
+p.loadURDF("plane.urdf")
+
+#in 3 seconds, the object travels about 0.5*g*t^2 meter ~ 45 meter.
+r2d2 = p.loadURDF("r2d2.urdf",[0,0,45])
+#disable linear damping
+p.changeDynamics(r2d2,-1, linearDamping=0)
+p.setGravity(0,0,-10)
+
+for i in range (3*240):
+  txt = "frame "+str(i)
+  item = p.addUserDebugText(txt, [0,1,0])
+  p.stepSimulation()
+  #synchronize the visualizer (rendering frames for the video mp4) with stepSimulation
+  p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
+  #print("r2d2 vel=", p.getBaseVelocity(r2d2)[0][2])
+  p.removeUserDebugItem(item)
+
+p.disconnect()