diff --git a/src/engine/engine_io.c b/src/engine/engine_io.c
index 48a1bd8ced..32994e9cf2 100644
--- a/src/engine/engine_io.c
+++ b/src/engine/engine_io.c
@@ -94,7 +94,7 @@ void mj_defaultLROpt(mjLROpt* opt) {
 
 //------------------------------- mjOption ---------------------------------------------------------
 
-// set default solver paramters
+// set default solver parameters
 void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp) {
   if (solref) {
     solref[0] = 0.02;       // timeconst
diff --git a/src/engine/engine_io.h b/src/engine/engine_io.h
index 6983990d74..4f8b530c0f 100644
--- a/src/engine/engine_io.h
+++ b/src/engine/engine_io.h
@@ -35,7 +35,7 @@ extern "C" {
 // Set default options for length range computation.
 MJAPI void mj_defaultLROpt(mjLROpt* opt);
 
-// set default solver paramters
+// set default solver parameters
 MJAPI void mj_defaultSolRefImp(mjtNum* solref, mjtNum* solimp);
 
 // set options to default values
diff --git a/src/engine/engine_util_misc.c b/src/engine/engine_util_misc.c
index e1e126d79d..30eb0d2a92 100644
--- a/src/engine/engine_util_misc.c
+++ b/src/engine/engine_util_misc.c
@@ -163,7 +163,7 @@ static mjtNum wrap_circle(mjtNum* pnt, const mjtNum* d, const mjtNum* sd, mjtNum
 //  input: pair of 2D points in d[4], radius
 //  output: pair of 2D points in pnt[4]; return 0 if wrap, -1 if no wrap
 static mjtNum wrap_inside(mjtNum* pnt, const mjtNum* d, mjtNum rad) {
-  // algorithm paramters
+  // algorithm parameters
   const int maxiter = 20;
   const mjtNum zinit = 1 - 1e-7;
   const mjtNum tolerance = 1e-6;