diff --git a/docs/help/docs-guide.md b/docs/help/docs-guide.md
index 6f7f3782d35..a67d21fc7e4 100644
--- a/docs/help/docs-guide.md
+++ b/docs/help/docs-guide.md
@@ -4,7 +4,7 @@
 
     Under Construction
 
-This page explains documentations sites that are useful for Autoware and ROS development.
+This page explains several documentation sites that are useful for Autoware and ROS development.
 
 ## [The Autoware Foundation](https://www.autoware.org/)
 
diff --git a/docs/help/support-guidelines.md b/docs/help/support-guidelines.md
index 4ae6bfd7e0b..f877e8d1b34 100644
--- a/docs/help/support-guidelines.md
+++ b/docs/help/support-guidelines.md
@@ -1,5 +1,84 @@
 # Support guidelines
 
+This page explains the support mechanisms we provide.
+
 !!! warning
 
-    Under Construction
+    Before asking for help, search and read this documentation site carefully.
+    Also, follow the [discussion guidelines](../contributing/discussion-guidelines/index.md) for discussions.
+
+Choose appropriate resources depending on what kind of help you need and read the detailed description in the sections below.
+
+- [Documentation sites](#documentation-sites)
+  - Various information
+- [GitHub Discussions](#github-discussions)
+  - Questions
+  - Unconfirmed bugs
+  - Feature requests
+  - Design discussions
+- [GitHub Issues](#github-issues)
+  - Confirmed bugs
+- [Slack](#slack)
+  - Instant messaging between contributors
+- [ROS Discourse](#ros-discourse)
+  - General topics that should be widely announced
+
+## Documentation sites
+
+[Docs guide](docs-guide.md) shows the list of useful documentation sites.
+Visit them and see if there is any information related to your problem.
+
+Note that the documentation sites aren't always up-to-date and perfect.
+If you find out that some information is wrong, unclear, or missing in Autoware docs, feel free to submit a pull request following our [contribution guidelines](../contributing/index.md).
+
+!!!warning
+
+    Since this documentation site is still under construction, there are some empty pages.
+
+## GitHub Discussions
+
+If you encounter a problem with Autoware, check existing issues and questions and search for similar issues first.
+
+- [Issues](https://github.com/autowarefoundation/autoware/issues)
+
+  Note that Autoware has multiple repositories listed in [autoware.repos](https://github.com/autowarefoundation/autoware/blob/main/autoware.repos).  
+  It is recommended to search across the repositories.
+
+- [Questions](https://github.com/autowarefoundation/autoware/discussions/categories/q-a)
+
+If no answer was found, create a new question thread [here](https://github.com/autowarefoundation/autoware/discussions/categories/q-a).
+If your question is not answered within a week, then @mention the maintainers to remind them.
+
+Also, there are other discussion types such as [feature requests](https://github.com/autowarefoundation/autoware/discussions/categories/feature-requests) or [design discussions](https://github.com/autowarefoundation/autoware/discussions/categories/design).
+Feel free to open or join such discussions.
+
+## GitHub Issues
+
+If you have a problem and you have confirmed it is a bug, find the appropriate repository and create a new issue there.
+If you can't determine the appropriate repository, ask the maintainers for help by creating a new discussion in the [Q&A category](https://github.com/autowarefoundation/autoware/discussions/categories/q-a).
+
+!!!warning
+
+    Do not create issues for questions or unconfirmed bugs. If such issues are created, maintainers will transfer them to GitHub Discussions.
+
+If you want to fix the bug by yourself, discuss the approach with maintainers and submit a pull request.
+
+## Slack
+
+Autoware has a Slack workspace for casual communication between contributors.
+
+For example, this is a good place for the following activities:
+
+- Introduce yourself to the community.
+- Chat with contributors.
+- Take a quick straw poll.
+
+Note that it is not the right place to get help for your issues.
+
+## ROS Discourse
+
+If you want to widely discuss a topic with the general Autoware and ROS community or ask a question not related to Autoware's bugs, post to [the Autoware category on ROS Discourse](https://discourse.ros.org/c/autoware).
+
+!!!warning
+
+    Do not post questions about bugs to ROS Discourse!