diff --git a/README.md b/README.md
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--- a/README.md
+++ b/README.md
@@ -502,3 +502,51 @@ topics:
 ```
 
 Note that the `qos` section can be omitted entirely and options not set are left default.
+
+# Action bridge
+
+This bridge extends the `ros1_bridge` to action interface. The bridge works in both directions, meaning an action goal can be sent from ROS1 client to ROS2 server, or from ROS2 client to ROS1 server.
+
+The arguments for `action_bridge` node are:  
+`direction`: from client (`ros1` or `ros2`)
+e.g.:
+- `ROS1` client to `ROS2` server --> `direction` = `ros1`
+- `ROS2` client to `ROS1` server --> `direction` = `ros2`  
+
+`package`: package of the `ROS1` server node  
+`type`: action interface type of `ROS1`  
+`name`: action name
+
+For sending goals from ROS2 action client to ROS1 action server
+```
+# Terminal 1 -- action bridge
+# Make sure roscore is already running
+source <ros1_bridge-install-dir>/setup.bash
+ros2 run ros1_bridge action_bridge ros1 actionlib_tutorials Fibonacci fibonacci
+
+# Terminal 2 -- ROS1 action server
+source <ros1-install-dir>/setup.bash
+rosrun actionlib_tutorials fibonacci_server
+
+# Terminal 3 -- ROS2 action client
+source <ros2-install-dir>/setup.bash
+ros2 run action_tutorials_cpp fibonacci_action_client 20
+```
+
+For sending goals from ROS1 action client to ROS2 action server
+```
+# Terminal 1 -- action bridge
+# Make sure roscore is already running
+source <ros1_bridge-install-dir>/setup.bash
+ros2 run ros1_bridge action_bridge ros2 action_tutorials_interfaces action/Fibonacci fibonacci
+
+# Terminal 2 -- ROS2 action server
+source <ros2-install-dir>/setup.bash
+ros2 run action_tutorials_cpp fibonacci_action_server
+
+# Terminal 3 -- ROS1 action client
+source <ros1-install-dir>/setup.bash
+rosrun actionlib_tutorials fibonacci_client 20
+```
+
+`dynamic_bridge` has been extended to handle actions as well.