diff --git a/Packages/com.unity.inputsystem/CHANGELOG.md b/Packages/com.unity.inputsystem/CHANGELOG.md
index f64be23383..c2ccf45792 100644
--- a/Packages/com.unity.inputsystem/CHANGELOG.md
+++ b/Packages/com.unity.inputsystem/CHANGELOG.md
@@ -36,6 +36,7 @@ and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.
 - Migrated sample scenes to use Universal Render Pipeline (URP) with Built-in Render Pipeline fallback shaders. The URP package is now required to run the samples. (ISX-2343)
 - Changed the UI for `Actions.inputactions` asset to use UI Toolkit framework.
 - Changed the UI for `InputSystem.inputsettings` asset to use UI Toolkit framework.
+- Added documentation for rumble support on Android.
 
 ### Added
 
diff --git a/Packages/com.unity.inputsystem/Documentation~/Gamepad.md b/Packages/com.unity.inputsystem/Documentation~/Gamepad.md
index 368b71cb25..12eb6cbd85 100644
--- a/Packages/com.unity.inputsystem/Documentation~/Gamepad.md
+++ b/Packages/com.unity.inputsystem/Documentation~/Gamepad.md
@@ -118,10 +118,19 @@ Gamepad.current.SetMotorSpeeds(0.25f, 0.75f);
 
 > [!NOTE]
 > Only the following combinations of devices/OSes currently support rumble:
->* PS4, Xbox, and Switch controllers, when connected to their respective consoles. Only supported if you install console-specific input packages in your Project.
+>* PS4, Xbox, and Nintendo Switch controllers, when connected to their respective consoles. Only supported if you install console-specific input packages in your Project.
 >* PS4 controllers, when connected to Mac or Windows/UWP computers.
 >* Xbox controllers on Windows.
-
+>* Gamepads on Android. Rumble support varies with Android OS version and requires Unity 6000.6 or later.
+>    * Rumble automatically stops about 10 seconds after the last [`SetMotorSpeeds`](xref:UnityEngine.InputSystem.Haptics.IDualMotorRumble) call unless you explicitly stop it.
+>    * Android 12 or later:
+>        * Supports most Bluetooth-connected gamepads with rumble support including PS4, PS5, and Xbox controllers.
+>        *  If the gamepad is connected with a USB cable, rumble support might vary.
+>        *  If the gamepad supports more than one motor, you can control the speed of each motor individually.
+>    * Android 11 or earlier:
+>        * Rumble support is limited.
+>        * Only one motor is supported. If the gamepad has more than one motor, the higher value of the left and right motor speed applies to both.
+>        * On some devices, motor speed control is limited. You can only set the left and right motor speed to either `1.0` (maximum speed) or `0.0` (turned off).
 [//]: # (TODO: are we missing any supported configs?)
 
 ### Pausing, resuming, and stopping haptics