diff --git a/boards/beaglev/fire/05-demos.rst b/boards/beaglev/fire/05-demos.rst
index 796ea43e5a472665334e809bf90c6cfa248cbb84..a6255965cc8aa95972fbf5eff19dad3cc02f5841 100644
--- a/boards/beaglev/fire/05-demos.rst
+++ b/boards/beaglev/fire/05-demos.rst
@@ -22,6 +22,7 @@ Demos
demos-and-tutorials/gateware/gateware-full-flow
demos-and-tutorials/gateware/gateware-tcl-scripts-structure
demos-and-tutorials/gateware/customize-cape-gateware-verilog
+ demos-and-tutorials/gateware/deploy-and-program-picorv-softcore
demos-and-tutorials/gateware/running-the-bitstream-builder-on-windows
demos-and-tutorials/gateware/exploring-gateware-design-libero
demos-and-tutorials/gateware/gateware-design-simulation-libero
diff --git a/boards/beaglev/fire/demos-and-tutorials/gateware/deploy-and-program-picorv-softcore.rst b/boards/beaglev/fire/demos-and-tutorials/gateware/deploy-and-program-picorv-softcore.rst
new file mode 100644
index 0000000000000000000000000000000000000000..4dc198c3a1ce54202bcb5c255f72c20f2742fe78
--- /dev/null
+++ b/boards/beaglev/fire/demos-and-tutorials/gateware/deploy-and-program-picorv-softcore.rst
@@ -0,0 +1,169 @@
+.. _beaglev-fire-softcore-usage:
+
+How to use PicoRV Softcore on BeagleV-Fire
+##########################################
+
+Introduction
+************
+
+The PicoRV Softcore is a 32-bit RISC-V CPU subsystem on the BeagleV-Fire's FPGA fabric, functionally equivalent to the PRU subsystem on the BeagleBone Black.
+The core is designed for low-latency I/O operations and offloading smaller tasks like PWM, LEDS, etc .
+
+Prerequisites
+*************
+
+To be able to use the softcore component, you'll need to have following packages installed on your host computer:
+
+- gcc-riscv64-unknown-elf
+- picolibc-riscv64-unknown-elf
+
+.. note::
+
+ These packages are used for compiling the code for the softcore.
+
+For debian-based systems like ubuntu, you can use following commands:
+
+.. code-block:: console
+
+ sudo apt install gcc-riscv64-unknown-elf picolibc-riscv64-unknown-elf
+
+If you are using any other linux distro these packages can be downloaded from respective package managers.
+But, it is highly recommended to use docker for accurate results.
+
+`Docker installation steps <https://docs.docker.com/engine/install>`_.
+
+Once you have docker installed:
+
+1. Start a container with ubuntu image.
+2. Install the required toolchain using above mentioned command (remember not to use 'sudo' in docker).
+
+.. code-block:: console
+
+ Sudo docker run -it ubuntu:latest
+
+After installing the necessary tools, you are all set for using the Softcore.
+
+How to use the Softcore
+***********************
+
+1. Boot the softcore with firmware
+==================================
+
+Step 1
+------
+
+Navigate to ``sources/FPGA-design/script_support/components/SOFTCORE/PICO_RISCV/firmware`` in the BeagleV-Fire repository.
+
+Step 2
+------
+
+Edit the firmware.c file by adding your code in the main function. You can create your own custom file but remember to use firmware.h file for pre-defined functions to access gpios.
+
+Step 3
+------
+
+Now run the ``generatehex.sh`` to compile the code. (remember to edit the file name in the script of you are using custom file)
+
+.. code-block:: console
+
+ . ./generatehex.sh
+
+If you are using docker clone the repository on your docker container or use docker copy, then compile the program and use docker copy to obtain the hex file.
+
+To copy file from local system to docker container:
+
+.. code-block:: console
+
+ docker cp ./path/to/file CONTAINER:/path/to/directory
+
+To copy file from docker container to local system:
+
+.. code-block:: console
+
+ docker cp CONTAINER:/path/to/file /path/to/directory
+
+To check the name of docker 'CONTAINER':
+
+.. code-block:: console
+
+ docker ps -a
+
+This will list all the running and stopped containers
+To restart a stopped container, use:
+
+.. code-block:: console
+
+ sudo docker start name_of_container -i
+
+Step 4
+------
+
+Select PicoRV build option for bitstream generation
+
+Once the code is compiled, build the bitstream using the 'build-bitstream.py' script.
+
+.. code-block:: console
+
+ python build-bitstream.py ./build-options/picorv-softcore.yaml
+
+.. note::
+
+ The Gitlab CI does not support the softcore code compilation yet, so the bitstream must be generated locally.
+
+Step 5
+------
+
+Program BeagleV-Fire With Your `Custom Bitstream <https://docs.beagleboard.org/boards/beaglev/fire/demos-and-tutorials/gateware/customize-cape-gateware-verilog.html>`_.
+
+
+2. Programming the softcore in run-time
+=======================================
+
+Step 1
+------
+
+- Program the softcore with custom bitstream with picorv-softcore build-option.
+- Follow the steps mentioned in previous section.
+
+Step 2
+------
+
+- Edit and compile your new code in your local machine.(BeagleV-Fire does not support on-board compilation for softcore programs yet, this feature will be added soon.)
+- Follow Steps 2 and 3 in previous section for compiling your new program.
+
+Step 3
+------
+
+Copy the firmware directory from BeagleV-Fire repository to your board.
+
+.. code-block:: console
+
+ sudo scp -r path/to/firmware beagle@192.168.7.2:/home/beagle
+
+Step 4
+------
+
+- Overwritting softcore's program memory.
+- Compile the 'AXI_test.c' file using gcc and execute it.
+
+.. code-block:: console
+
+ gcc -o AXI_test AXI_test.c
+ sudo ./AXI_teste
+
+
+- This will open a interactive menu with various option that you can try out and access the program memory of the softcore.
+- Here we will select *option 2* to upload the hex file we just compiled to the softcore.
+
+.. note::
+
+ This compilation in step 2 is to generate a hex file to program the Softcore, while the compilation in Step 3 is performed to command the Linux system on-board to access the program memory of the Softcore.
+
+.. note::
+
+ The filename in **AXI_test.c** for the hex file is set as ``firmware.hex``, so make sure the name of the hex file you compiled is the same else change the filename pointer in **AXI_test.c**.
+
+Repository
+==========
+
+`PicoRV softcore builder <https://openbeagle.org/gsoc/2024/riscv-io-core/>`_.