diff --git a/CHANGELOG.md b/CHANGELOG.md
index 52f4bfef3e..7aa478bbdb 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 ### Fixed
 - Remove a lot of warnings ([#2139](https://github.com/stack-of-tasks/pinocchio/pull/2139))
 
+### Added
+- Add example to visualize floating base velocity [#2143](https://github.com/stack-of-tasks/pinocchio/pull/2143)
+
 ## [2.7.0] - 2024-01-23
 
 ### Added