diff --git a/geometry/meshcat.h b/geometry/meshcat.h
index e8ce215ca94e..6189fc6121b7 100644
--- a/geometry/meshcat.h
+++ b/geometry/meshcat.h
@@ -129,6 +129,37 @@ in the visualizer.
 Delete(). You are welcome to use absolute paths to organize your data, but the
 burden on tracking and cleaning them up lie on you.
 
+@section meshcat_url_parameters Parameters for the hosted Meshcat page
+
+%Meshcat has an *experimental* AR/VR option (using WebXR). It can be enabled
+through url parameters. For example, for a meshcat url `http://localhost:7000`,
+the following will enable the VR mode:
+
+    http://localhost:7000?webxr=vr
+
+To to use augmented reality (where the meshcat background is replaced with your
+device's camera image), use:
+
+    http://localhost:7000?webxr=ar
+
+If augmented reality is not available, it will fallback to VR mode.
+
+Some notes on using the AR/VR modes:
+
+  - Before starting the WebXR session, position the interactive camera to be
+    approximately where you want the origin of the head set's origin to be.
+  - The meshcat scene controls are disabled while the WebXR session is active.
+  - WebXR sessions can only be run with *perspective* cameras.
+  - The controllers can be *visualized* but currently can't interact with the
+    Drake simulation physically. To visualize the controllers append the
+    additional url parameter `controller=on` as in
+    `http://localhost:7000?webxr=vr&controller=on`.
+
+If you do not have AR/VR hardware, you can use an emulator in your browser to
+experiment with the mode. Use an browser plugin like WebXR API Emulator (i.e.,
+for [Chrome](https://chrome.google.com/webstore/detail/webxr-api-emulator/mjddjgeghkdijejnciaefnkjmkafnnje)
+or [Firefox](https://addons.mozilla.org/en-US/firefox/addon/webxr-api-emulator/)).
+
 @section network_access Network access
 
 See MeshcatParams for options to control the hostname and port to bind to.
diff --git a/geometry/meshcat.html b/geometry/meshcat.html
index 28438e09113a..90f667bdd331 100644
--- a/geometry/meshcat.html
+++ b/geometry/meshcat.html
@@ -190,6 +190,23 @@
     make_connection(url, reconnect_ms);
     <!-- CONNECTION BLOCK END -->
 
+    const webxrMode = urlParams.get('webxr');
+    if (webxrMode) {
+        viewer.handle_command({
+          type: "enable_webxr",
+          mode: webxrMode
+        });
+    }
+
+    const controllerMode = urlParams.get('controller');
+    if (controllerMode === "on") {
+      viewer.handle_command({
+        type: "visualize_vr_controller"
+      });
+    }
+
+
+
   </script>
 
   <style>
diff --git a/geometry/test/meshcat_manual_test.cc b/geometry/test/meshcat_manual_test.cc
index 8718c83245cb..9e199ce60de6 100644
--- a/geometry/test/meshcat_manual_test.cc
+++ b/geometry/test/meshcat_manual_test.cc
@@ -508,6 +508,52 @@ Open up your browser to the URL above.
     }
   }
 
+  std::cout << "\n";
+  std::cout << "Now we'll test the WebXR functionality.\n";
+  std::cout << "In a new browser window, open the URL:\n  "
+            << meshcat->web_url() << "?webxr=vr&controller=on\n";
+  std::cout << "If you don't have VR hardware installed on your machine, "
+               "you'll have to install the WebXR API emulator appropriate to "
+               "your browser. For Google Chrome "
+               "see:\n  https://chrome.google.com/webstore/detail/"
+               "webxr-api-emulator/mjddjgeghkdijejnciaefnkjmkafnnje\n"
+               "If you are using Firefox see:\n "
+               "https://addons.mozilla.org/de/firefox/addon/"
+               "webxr-api-emulator/";
+  std::cout << "\nIf the emulator is installed properly, you should see a "
+               "button at the bottom that says \"Enter VR\".\n";
+  std::cout << "Open the developer tools of your browser (F12). At the top "
+               "of the developer tools windows click on the double arrows icon "
+               "and a new tab should be available saying \" WebXR \". "
+               "Make sure to select a device with controllers from the top "
+               "drop-down menu (e.g., Oculus Quest). Click the "
+               "\"Enter VR\" button. You should see the following:\n"
+            << "  - The rendering screen is now split into two images.\n"
+            << "  - The meshcat controls are gone (there is a message in the "
+               "console informing you of this).\n"
+            << "  - You should be able to manipulate the view in the WebXR "
+               "emulator to affect what you see."
+            << "  - Clicking on the headset/controller "
+               "mesh for the first time in "
+               "the emulator window will bring up colored arrows which you can "
+               "use to move the mesh. Click a second time on the mesh to "
+               "switch to rotation mode."
+            << "When you're done, close the browser window.\n\n";
+
+  MaybePauseForUser();
+
+  std::cout << "\nNow we'll try it again with *augmented* reality.\n"
+            << "In yet another browser window, open:\n"
+            << meshcat->web_url() << "?webxr=ar&controller=on\n"
+            << "This should be the same as before but with two differences:\n"
+            << "  - The button reads \"Enter XR\"\n"
+            << "  - When you click the button, the background becomes white. "
+               "If you have an actual AR device, you should see the camera's "
+               "image as the background.\n"
+            << "When you're done, close the browser window.\n\n";
+
+  MaybePauseForUser();
+
   std::cout << "Exiting..." << std::endl;
   return 0;
 }