diff --git a/doc/nrf/libraries/bluetooth/services/rreq.rst b/doc/nrf/libraries/bluetooth/services/rreq.rst
new file mode 100644
index 000000000000..263ab37bec57
--- /dev/null
+++ b/doc/nrf/libraries/bluetooth/services/rreq.rst
@@ -0,0 +1,49 @@
+.. _rreq_readme:
+
+Ranging Requestor (RREQ)
+########################
+
+.. contents::
+   :local:
+   :depth: 2
+
+Overview
+********
+
+This library implements the Ranging Requestor for Channel Sounding with the corresponding set of characteristics defined in the `Ranging Service Specification`_ and the `Ranging Profile Specification`_.
+
+This library supports On Demand Ranging Data.
+
+Configuration
+*************
+
+To enable this library, use the :kconfig:option:`CONFIG_BT_RAS` Kconfig option.
+
+Check and adjust the following Kconfig options:
+
+* :kconfig:option:`CONFIG_BT_RAS_MAX_ANTENNA_PATHS` - Sets the maximum number of antenna paths supported by the device.
+
+* :kconfig:option:`CONFIG_BT_RAS_MODE_3_SUPPORTED` - Sets support for storing Mode 3 Channel Sounding steps.
+
+* :kconfig:option:`CONFIG_BT_RAS_RREQ` - Enables RREQ Kconfig options.
+
+* :kconfig:option:`CONFIG_BT_RAS_RREQ_MAX_ACTIVE_CONN` - Sets the number of simultaneously supported RREQ instances.
+
+* :kconfig:option:`CONFIG_HEAP_MEM_POOL_ADD_SIZE_RAS_RREQ_GATT_DM` - Sets the heap size for the GATT discovery manager module.
+
+* :kconfig:option:`CONFIG_BT_RAS_RREQ_LOG_LEVEL` - Sets the logging level of the RREQ library.
+
+Usage
+*****
+
+You can set up the RREQ either as a Channel Sounding Initiator or Reflector.
+
+| See the sample: :file:`samples/bluetooth/channel_sounding_ras_initiator`
+
+API documentation
+*****************
+
+| Header file: :file:`include/bluetooth/services/ras.h`
+| Source files: :file:`subsys/bluetooth/services/ras`
+
+.. doxygengroup:: bt_ras
diff --git a/doc/nrf/libraries/bluetooth/services/rrsp.rst b/doc/nrf/libraries/bluetooth/services/rrsp.rst
new file mode 100644
index 000000000000..e4cc632d74f0
--- /dev/null
+++ b/doc/nrf/libraries/bluetooth/services/rrsp.rst
@@ -0,0 +1,57 @@
+.. _rrsp_readme:
+
+Ranging Responder (RRSP)
+########################
+
+.. contents::
+   :local:
+   :depth: 2
+
+Overview
+********
+
+This library implements the Ranging Responder for Channel Sounding with the corresponding set of characteristics defined in the `Ranging Service Specification`_ and the `Ranging Profile Specification`_.
+
+This library supports On Demand Ranging Data.
+
+Configuration
+*************
+
+To enable this library, use the :kconfig:option:`CONFIG_BT_RAS` Kconfig option.
+
+Check and adjust the following Kconfig options:
+
+* :kconfig:option:`CONFIG_BT_RAS_MAX_ANTENNA_PATHS` - Sets the maximum number of antenna paths supported by the device.
+  This sets the antenna paths for each step that can be stored inside the Ranging Service.
+  This value must match the supported Channel Sounding capabilities of the device.
+  This affects the per-instance memory usage of the Ranging Service.
+
+* :kconfig:option:`CONFIG_BT_RAS_MODE_3_SUPPORTED` - Sets support for storing Mode 3 Channel Sounding steps.
+  This will allocate memory for the Ranging Service to store Mode 3 Channel Sounding steps.
+  This value must match the supported Channel Sounding capabilities of the device.
+  This affects the per-instance memory usage of the Ranging Service.
+
+* :kconfig:option:`CONFIG_BT_RAS_RRSP` - Enables RRSP Kconfig options.
+
+* :kconfig:option:`CONFIG_BT_RAS_RRSP_AUTO_ALLOC_INSTANCE` - Sets new connections to be allocated a RRSP instance automatically.
+
+* :kconfig:option:`CONFIG_BT_RAS_RRSP_MAX_ACTIVE_CONN` - Sets the number of simultaneously supported RRSP instances.
+
+* :kconfig:option:`CONFIG_BT_RAS_RRSP_RD_BUFFERS_PER_CONN` - Set the number of ranging data buffers per connection.
+
+* :kconfig:option:`CONFIG_BT_RAS_RRSP_LOG_LEVEL` - Sets the logging level of the RRSP library.
+
+Usage
+*****
+
+You can set up the RRSP either as a Channel Sounding Initiator or Reflector.
+
+| See the sample: :file:`samples/bluetooth/channel_sounding_ras_reflector`
+
+API documentation
+*****************
+
+| Header file: :file:`include/bluetooth/services/ras.h`
+| Source files: :file:`subsys/bluetooth/services/ras`
+
+.. doxygengroup:: bt_ras
diff --git a/doc/nrf/links.txt b/doc/nrf/links.txt
index 4074bdd941f3..1b4f01a2ef96 100644
--- a/doc/nrf/links.txt
+++ b/doc/nrf/links.txt
@@ -984,6 +984,8 @@
 .. _`Current Time Service Specification`: https://www.bluetooth.org/docman/handlers/downloaddoc.ashx?doc_id=292957
 .. _`Running Speed and Cadence Service Specification`: https://www.bluetooth.com/specifications/specs/running-speed-and-cadence-service-1-0/
 .. _`Continuous Glucose Monitoring Service Specification`: https://www.bluetooth.org/DocMan/handlers/DownloadDoc.ashx?doc_id=531249
+.. _`Ranging Profile Specification`: https://files.bluetooth.com/download/rap_v1-0/
+.. _`Ranging Service Specification`: https://files.bluetooth.com/download/ras_v1-0/
 
 .. _`Bluetooth SIG company identifiers`: https://www.bluetooth.com/specifications/assigned-numbers/company-identifiers/