diff --git a/CHANGELOG.md b/CHANGELOG.md
index b9154806..1311f396 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,7 +2,14 @@
 
 All notable changes to this project will be documented in this file.
 
-## Unreleased
+## [0.9.0] - 2023/03/15
+
+### Added
+
+- Example: Draco 3 humanoid by @shbang91
+- Joint-coupling task by @shbang91
+- Linear holonomic task by @shbang91
+- Unit tests for joint-coupling and linear holonomic tasks by @shbang91
 
 ### Changed
 
diff --git a/examples/draco3.py b/examples/humanoid_draco3.py
similarity index 100%
rename from examples/draco3.py
rename to examples/humanoid_draco3.py
diff --git a/pink/__init__.py b/pink/__init__.py
index 64c30bc2..4445a097 100644
--- a/pink/__init__.py
+++ b/pink/__init__.py
@@ -22,7 +22,7 @@
 from .tasks import Task
 from .utils import custom_configuration_vector
 
-__version__ = "0.9.0rc0"
+__version__ = "0.9.0"
 
 __all__ = [
     "Configuration",