diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index f1d478c3f61..c287342bbfc 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -37,6 +37,23 @@ jobs:
       - name: Lint
         run: make lint
 
+  spellcheck:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+
+      - name: Install dependencies with pip
+        run: pip install --no-warn-script-location --user -r requirements.txt -c constraints.txt
+
+      - name: Spellcheck
+        run: make spellcheck
+
   build:
     needs: [test, lint]
     runs-on: ubuntu-22.04
diff --git a/Makefile b/Makefile
index 5014099150f..e8a706bba0f 100644
--- a/Makefile
+++ b/Makefile
@@ -28,6 +28,9 @@ lint:
 test:
 	doc8 --ignore D001 --ignore-path build
 
+spellcheck:
+	git ls-files '*.md' '*.rst' | xargs codespell --ignore-words=codespell_whitelist.txt --skip="source/Releases/*"
+
 linkcheck:
 	$(BUILD) -b linkcheck $(OPTS) $(SOURCE) $(LINKCHECKDIR)
 	@echo
diff --git a/README.md b/README.md
index 062f63b4759..3de74eb10be 100644
--- a/README.md
+++ b/README.md
@@ -51,6 +51,15 @@ For local testing of the current tree use:
 
 `sensible-browser build/html/index.html`
 
+### Spelling Check
+
+To check the spelling, use:
+
+`make spellcheck`
+
+> [!NOTE]
+> If that detects specific words that need to be ignored, add it to [codespell_whitelist](./codespell_whitelist.txt).
+
 ### Deployment test
 
 To test building the multisite version deployed to the website use:
diff --git a/codespell_whitelist.txt b/codespell_whitelist.txt
new file mode 100644
index 00000000000..b7860a05aa8
--- /dev/null
+++ b/codespell_whitelist.txt
@@ -0,0 +1 @@
+empy
diff --git a/requirements.txt b/requirements.txt
index 2406de14841..d75e4c9adbf 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,3 +1,4 @@
+codespell
 doc8
 docutils
 pip
diff --git a/source/The-ROS2-Project/Contributing/Code-Style-Language-Versions.rst b/source/The-ROS2-Project/Contributing/Code-Style-Language-Versions.rst
index c1284cb634d..5ee4cfafe68 100644
--- a/source/The-ROS2-Project/Contributing/Code-Style-Language-Versions.rst
+++ b/source/The-ROS2-Project/Contributing/Code-Style-Language-Versions.rst
@@ -166,9 +166,9 @@ Pointer Syntax Alignment
 Class Privacy Keywords
 ~~~~~~~~~~~~~~~~~~~~~~
 
-* Do not put 1 space before ``public:``, ``private:``, or ``protected:``, it is more consistent for all indentions to be a multiple of 2
+* Do not put 1 space before ``public:``, ``private:``, or ``protected:``, it is more consistent for all indentations to be a multiple of 2
 
-  * rationale: most editors don't like indentions which are not a multiple of the (soft) tab size
+  * rationale: most editors don't like indentations which are not a multiple of the (soft) tab size
   * Use zero spaces before ``public:``, ``private:``, or ``protected:``, or 2 spaces
   * If you use 2 spaces before, indent other class statements by 2 additional spaces
   * Prefer zero spaces, i.e. ``public:``, ``private:``, or ``protected:`` in the same column as the class
@@ -254,7 +254,7 @@ This is **not** OK:
    }
 
 
-Use open braces rather than excessive indention, e.g. for distinguishing constructor code from constructor initializer lists
+Use open braces rather than excessive indentation, e.g. for distinguishing constructor code from constructor initializer lists
 
 This is OK:
 
@@ -364,7 +364,7 @@ Since there is not an existing CMake style guide we will define our own:
 * Use ``snake_case`` identifiers (variables, functions, macros).
 * Use empty ``else()`` and ``end...()`` commands.
 * No whitespace before ``(``\ 's.
-* Use two spaces of indention, do not use tabs.
+* Use two spaces of indentation, do not use tabs.
 * Do not use aligned indentation for parameters of multi-line macro invocations. Use two spaces only.
 * Prefer functions with ``set(PARENT_SCOPE)`` to macros.
 * When using macros prefix local variables with ``_`` or a reasonable prefix.