diff --git a/doc/source/api.rst b/doc/source/api.rst
new file mode 100644
index 0000000..81c016b
--- /dev/null
+++ b/doc/source/api.rst
@@ -0,0 +1,41 @@
+.. _api:
+
+=================
+API Documentation
+=================
+
+This is the detailed documentation of all public classes and functions.
+You can also search for specific modules, classes, or functions in the
+:ref:`genindex`.
+
+.. contents:: :local:
+    :depth: 1
+
+
+:mod:`movement_primitives.dmp`
+==============================
+
+.. automodule:: movement_primitives.dmp
+
+.. autosummary::
+   :toctree: _apidoc/
+
+   ~movement_primitives.dmp.DMPBase
+   ~movement_primitives.dmp.WeightParametersMixin
+   ~movement_primitives.dmp.DMP
+   ~movement_primitives.dmp.DMPWithFinalVelocity
+   ~movement_primitives.dmp.CartesianDMP
+   ~movement_primitives.dmp.DualCartesianDMP
+   ~movement_primitives.dmp.CouplingTermPos1DToPos1D
+   ~movement_primitives.dmp.CouplingTermObstacleAvoidance2D
+   ~movement_primitives.dmp.CouplingTermObstacleAvoidance3D
+   ~movement_primitives.dmp.CouplingTermPos3DToPos3D
+   ~movement_primitives.dmp.CouplingTermDualCartesianPose
+   ~movement_primitives.dmp.CouplingTermObstacleAvoidance3D
+   ~movement_primitives.dmp.CouplingTermDualCartesianDistance
+   ~movement_primitives.dmp.CouplingTermDualCartesianTrajectory
+   ~movement_primitives.dmp.dmp_transformation_system
+   ~movement_primitives.dmp.canonical_system_alpha
+   ~movement_primitives.dmp.phase
+   ~movement_primitives.dmp.obstacle_avoidance_acceleration_2d
+   ~movement_primitives.dmp.obstacle_avoidance_acceleration_3d
diff --git a/doc/source/conf.py b/doc/source/conf.py
index b776a44..a793689 100644
--- a/doc/source/conf.py
+++ b/doc/source/conf.py
@@ -37,7 +37,9 @@
 # ones.
 extensions = [
     "numpydoc",
-    "myst_parser"
+    "myst_parser",
+    "sphinx.ext.autodoc",
+    "sphinx.ext.autosummary"
 ]
 
 # Add any paths that contain templates here, relative to this directory.
@@ -48,6 +50,8 @@
 # This pattern also affects html_static_path and html_extra_path.
 exclude_patterns = []
 
+autosummary_generate = True
+
 
 # -- Options for HTML output -------------------------------------------------
 
@@ -65,7 +69,7 @@
     "navbar_links": [
         ("Readme", "README"),
         #("Examples", "_auto_examples/index"),
-        #("API", "api"),
+        ("API", "api"),
     ],
 }
 
@@ -78,4 +82,13 @@
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
\ No newline at end of file
+html_static_path = ["_static"]
+html_show_sourcelink = False
+html_show_sphinx = False
+
+intersphinx_mapping = {
+    'python': ('https://docs.python.org/{.major}'.format(sys.version_info), None),
+    'numpy': ('https://numpy.org/doc/stable', None),
+    'scipy': ('https://docs.scipy.org/doc/scipy/reference', None),
+    'matplotlib': ('https://matplotlib.org/', None)
+}
diff --git a/movement_primitives/dmp/__init__.py b/movement_primitives/dmp/__init__.py
index 2d7a3d7..6b412fb 100644
--- a/movement_primitives/dmp/__init__.py
+++ b/movement_primitives/dmp/__init__.py
@@ -1,4 +1,12 @@
-"""Dynamical movement primitive variants."""
+"""Dynamical Movement Primitive (DMP)
+==================================
+
+This module provides implementations of various DMP types. DMPs consist of
+a goal-directed movement generated by the transformation system and a forcing
+term that defines the shape of the trajectory. They are time-dependent and
+usually converge to the goal after a constant execution time.
+"""
+from ._base import DMPBase, WeightParametersMixin
 from ._dmp import DMP, dmp_transformation_system
 from ._dmp_with_final_velocity import DMPWithFinalVelocity
 from ._cartesian_dmp import CartesianDMP
@@ -14,6 +22,7 @@
 
 
 __all__ = [
+    "DMPBase", "WeightParametersMixin",
     "DMP", "dmp_transformation_system", "DMPWithFinalVelocity", "CartesianDMP",
     "DualCartesianDMP", "CouplingTermPos1DToPos1D",
     "CouplingTermObstacleAvoidance2D", "CouplingTermObstacleAvoidance3D",