diff --git a/examples/pybullet/examples/integrate.py b/examples/pybullet/examples/integrate.py
new file mode 100644
index 000000000..a4e4deaa2
--- /dev/null
+++ b/examples/pybullet/examples/integrate.py
@@ -0,0 +1,13 @@
+import pybullet as p
+p.connect(p.GUI)
+cube  = p.loadURDF("cube.urdf")
+frequency = 240
+timeStep = 1./frequency
+p.setGravity(0,0,-9.8)
+p.changeDynamics(cube,-1,linearDamping=0,angularDamping=0)
+p.setPhysicsEngineParameter(fixedTimeStep = timeStep)
+for i in range (frequency):
+	p.stepSimulation()
+pos,orn = p.getBasePositionAndOrientation(cube)
+print(pos)
+