diff --git a/README.md b/README.md
index 45d31df98b..fdf6c0b97f 100644
--- a/README.md
+++ b/README.md
@@ -5,3 +5,12 @@ Very lightweight Estimation & Control Library.
 This library solves the estimation & control problems of a number of robots and drones. It accepts GPS, vision and inertial sensor inputs. It is extremely lightweight and efficient and yet has the rugged field-proven performance.
 
 The library is currently BSD licensed, but might move to Apache 2.0.
+## Building EKF Library
+Prerequisite:
+  * Eigen3: http://eigen.tuxfamily.org/index.php installed
+
+By following the steps mentioned below you can create a shared library which can be included in projects using `-l` flag of gcc:
+  * mkdir Build/
+  * cd Build/
+  * cmake ../EKF
+  * make