diff --git a/README.md b/README.md
index 2d921b1..a80a712 100644
--- a/README.md
+++ b/README.md
@@ -95,6 +95,13 @@ How to do that, and how to handle some other special cases will follow.
 
 #### Using a `rosdoc2.yaml` file to control how your package is documented
 
+To generate a default config file, run
+
+```
+$ rosdoc2 default_config \
+  --package-path ./src/path/to/my_package_name
+```
+
 TODO
 
 #### Packages with C/C++ API Documentation
diff --git a/rosdoc2/verbs/default_config/__init__.py b/rosdoc2/verbs/default_config/__init__.py
new file mode 100644
index 0000000..a665f36
--- /dev/null
+++ b/rosdoc2/verbs/default_config/__init__.py
@@ -0,0 +1,29 @@
+# Copyright 2024 Jonas Otto
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .impl import main
+from .impl import prepare_arguments
+
+__all__ = [
+    'entry_point_data',
+]
+
+entry_point_data = {
+    'verb': 'default_config',
+    'description': 'Create a default rosdoc2 config file in a package',
+    # Called for execution, given parsed arguments object
+    'main': main,
+    # Called first to setup argparse, given argparse parser
+    'prepare_arguments': prepare_arguments,
+}
diff --git a/rosdoc2/verbs/default_config/impl.py b/rosdoc2/verbs/default_config/impl.py
new file mode 100644
index 0000000..b31bc77
--- /dev/null
+++ b/rosdoc2/verbs/default_config/impl.py
@@ -0,0 +1,48 @@
+# Copyright 2024 Jonas Otto
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+
+from ..build.create_format_map_from_package import create_format_map_from_package
+from ..build.impl import get_package
+from ..build.inspect_package_for_settings import DEFAULT_ROSDOC_CONFIG_FILE
+
+
+def prepare_arguments(parser):
+    """Add command-line arguments to the argparse object."""
+    parser.add_argument(
+        '--package-path',
+        '-p',
+        required=True,
+        help='path to the ROS package',
+    )
+    return parser
+
+
+def main(options):
+    """Execute command to create default config file."""
+    package = get_package(options.package_path)
+    path = os.path.join(os.path.dirname(package.filename), 'rosdoc2.yaml')
+    if os.path.exists(path):
+        print(f'Config file already exists at {path}, '
+              'remove it and run again to replace it with the default.')
+        return
+
+    package_map = create_format_map_from_package(package)
+    rosdoc_config_file = DEFAULT_ROSDOC_CONFIG_FILE.format_map(package_map)
+
+    with open(path, 'w') as config_file:
+        config_file.write(rosdoc_config_file)
+    print('Created rosdoc2.yaml, remember to add \"<rosdoc2>rosdoc2.yaml</rosdoc2>\" '
+          f'to the \"export\" section in {package.filename}')
diff --git a/setup.cfg b/setup.cfg
index 6efd27b..8893cb1 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -57,6 +57,7 @@ zip_safe = false
 rosdoc2.verbs =
     build = rosdoc2.verbs.build:entry_point_data
     open = rosdoc2.verbs.open:entry_point_data
+    default_config = rosdoc2.verbs.default_config:entry_point_data
 console_scripts =
     rosdoc2 = rosdoc2.main:main