diff --git a/release_instructions.md b/release_instructions.md
index 268ab7809..61ad1f7e8 100644
--- a/release_instructions.md
+++ b/release_instructions.md
@@ -306,3 +306,38 @@ For checking that the build process is ongoing as expected:
        1. This pull request may take a minute or two to open.
        1. Once it is open, make a comment containing the text "build bottle".
           For further details, see the [README at osrf/homebrew-simulation](https://github.com/osrf/homebrew-simulation#to-build-bottles).
+
+    1. A pull request was opened to
+        <https://github.com/gazebo-release/$VENDOR_PACKAGE/>, where
+        `$VENDOR_PACKAGE` is the name of the Gazebo vendor package for ROS (see
+        <https://gazebosim.org/docs/latest/ros2_gz_vendor_pkgs/>)
+
+        1. Ensure that the ROS CI build passes. Note that some builds have
+            warnings which show up as failures on the Github UI while the build
+            actually succeeded.
+        1. For packages that are considered to be part of ROS core
+            (`gz_cmake_vendor`, `gz_utils_vendor`, and `gz_math_vendor`), start
+            additional CI tests using ci.ros2.org to build and test all ROS core
+            packages that depend on these Gazebo vendor packages.
+            * To do so, start a new
+                [`ci_launcher`](https://ci.ros2.org/job/ci_launcher/) build with the
+                following parameters:
+
+                  - `CI_BRANCH_TO_TEST`: branch name of the PR (e.g. `releasepy/rolling/3.1.1`)
+                  - `CI_ROS2_REPOS_URL`: If the vendor package is going to `rolling`, this can be skipped, otherwise use `https://raw.githubusercontent.com/ros2/ros2/$ROSDISTRO/ros2.repos` where `$ROSDISTRO` is replaced by the target ROS distribution.
+                  - `CI_UBUNTU_DISTRO`: Pick the Ubuntu distro that matches the target ROS distribution
+                  - `CI_ROS_DISTRO`: The target ROS distribution. For Harmonic this is `jazzy`, for Ionic this is `rolling` until `kilted` is released.
+                  - `CI_BUILD_ARGS`: `--event-handlers console_cohesion+ console_package_list+ --cmake-args -DINSTALL_EXAMPLES=OFF -DSECURITY=ON -DAPPEND_PROJECT_NAME_TO_INCLUDEDIR=ON  --packages-above-and-dependencies $VENDOR_PACKAGE` where `$VENDOR_PACKAGE` is the name of the Gazebo vendor package.
+                  - `CI_TEST_ARGS`: `--event-handlers console_cohesion+ --retest-until-pass 2 --ctest-args -LE xfail --pytest-args -m 'not xfail' --executor sequential --packages-above $VENDOR_PACKAGE` where `$VENDOR_PACKAGE` is the name of the Gazebo vendor package.
+
+        1. Once all of CI builds are successful, merge the PR
+        1. Make sure you have the required permission by checking
+            <https://github.com/ros2-gbp/ros2-gbp-github-org/blob/latest/gazebo.tf>.
+            If you're username is not there, follow
+            [these instructions](https://docs.ros.org/en/rolling/How-To-Guides/Releasing/Release-Team-Repository.html#join-a-release-team)
+            to get added to the release team.
+        1. Follow the steps of releasing a ROS package to release the vendor
+            package
+            <https://docs.ros.org/en/rolling/How-To-Guides/Releasing/Subsequent-Releases.html>
+            * Bump patch versions if the package has already been released for the target ROS distribution.
+            * Bump minor version only if the package is being released into a new ROS distribution.