diff --git a/Package/rust/.gitignore b/Package/rust/.gitignore
new file mode 100644
index 0000000..a9d37c5
--- /dev/null
+++ b/Package/rust/.gitignore
@@ -0,0 +1,2 @@
+target
+Cargo.lock
diff --git a/Package/rust/Cargo.toml b/Package/rust/Cargo.toml
new file mode 100644
index 0000000..507cf0e
--- /dev/null
+++ b/Package/rust/Cargo.toml
@@ -0,0 +1,24 @@
+[package]
+name = "bellande_step"
+version = "0.1.0"
+edition = "2021"
+authors = ["Bellande Robotics Sensors Research Innovation Center"]
+description = "A tool for running Bellande Step calculations via API or local executable"
+license = "GPL-3.0-or-later"
+repository = "https://github.com/Robotics-Sensors/bellande_step"
+readme = "README.md"
+keywords = ["robotics", "algorithms", "research"]
+categories = ["science", "algorithms"]
+
+[dependencies]
+reqwest = { version = "0.11", features = ["json"] }
+serde = { version = "1.0", features = ["derive"] }
+serde_json = "1.0"
+structopt = "0.3"
+tokio = { version = "1.0", features = ["full"] }
+thiserror = "1.0"
+anyhow = "1.0"
+
+[lib]
+name = "bellande_step"
+path = "src/bellande_step.rs"
diff --git a/Package/rust/publish.sh b/Package/rust/publish.sh
new file mode 100644
index 0000000..5b14e9b
--- /dev/null
+++ b/Package/rust/publish.sh
@@ -0,0 +1,3 @@
+cp ../../README.md .
+bash ../../git_scripts/push.sh
+cargo publish
diff --git a/Package/rust/src/bellande_step.rs b/Package/rust/src/bellande_step.rs
new file mode 100644
index 0000000..0f5e789
--- /dev/null
+++ b/Package/rust/src/bellande_step.rs
@@ -0,0 +1,161 @@
+// Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+// This program is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU General Public License for more details.
+
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+use reqwest;
+use serde_json::{json, Value};
+use std::error::Error;
+use std::path::{Path, PathBuf};
+use std::process::{self, Command};
+use structopt::StructOpt;
+
+#[derive(StructOpt, Debug)]
+#[structopt(name = "bellande_step", about = "Bellande Step Tool")]
+struct Opt {
+    #[structopt(long, help = "First coordinate as JSON-formatted list")]
+    node0: String,
+
+    #[structopt(long, help = "Second coordinate as JSON-formatted list")]
+    node1: String,
+
+    #[structopt(long, help = "Limit for the algorithm")]
+    limit: i32,
+
+    #[structopt(long, help = "Number of dimensions")]
+    dimensions: i32,
+
+    #[structopt(long, help = "Use local executable instead of API")]
+    use_executable: bool,
+}
+
+async fn make_bellande_step_request(
+    node0: Value,
+    node1: Value,
+    limit: i32,
+    dimensions: i32,
+) -> Result<Value, Box<dyn Error>> {
+    let client = reqwest::Client::new();
+    let url = "https://bellande-robotics-sensors-research-innovation-center.org/api/Bellande_Step/bellande_step";
+
+    let payload = json!({
+        "node0": node0,
+        "node1": node1,
+        "limit": limit,
+        "dimensions": dimensions,
+        "auth": {
+            "authorization_key": "bellande_web_api_opensource"
+        }
+    });
+
+    let response = client
+        .post(url)
+        .header("accept", "application/json")
+        .header("Content-Type", "application/json")
+        .json(&payload)
+        .send()
+        .await?
+        .json::<Value>()
+        .await?;
+
+    Ok(response)
+}
+
+fn get_executable_path() -> PathBuf {
+    if cfg!(target_os = "windows") {
+        Path::new(env!("CARGO_MANIFEST_DIR"))
+            .join("Bellande_Step.exe")
+    } else {
+        Path::new(env!("CARGO_MANIFEST_DIR"))
+            .join("Bellande_Step")
+    }
+}
+
+fn run_bellande_step_executable(
+    node0: &str,
+    node1: &str,
+    limit: i32,
+    dimensions: i32,
+) -> Result<(), Box<dyn Error>> {
+    let executable_path = get_executable_path();
+    let passcode = "bellande_step_executable_access_key";
+
+    // Parse and validate input
+    let node0_list: Value = serde_json::from_str(node0)?;
+    let node1_list: Value = serde_json::from_str(node1)?;
+
+    // Validate dimensions
+    if let (Some(n0), Some(n1)) = (node0_list.as_array(), node1_list.as_array()) {
+        if n0.len() != dimensions as usize || n1.len() != dimensions as usize {
+            return Err(format!("Coordinates must have {} dimensions", dimensions).into());
+        }
+    }
+
+    // Prepare and run command
+    let output = Command::new(executable_path)
+        .args(&[
+            passcode,
+            &node0,
+            &node1,
+            &limit.to_string(),
+            &dimensions.to_string(),
+        ])
+        .output()?;
+
+    if output.status.success() {
+        println!("{}", String::from_utf8_lossy(&output.stdout));
+        Ok(())
+    } else {
+        Err(format!(
+            "Process failed: {}",
+            String::from_utf8_lossy(&output.stderr)
+        ).into())
+    }
+}
+
+#[tokio::main]
+async fn main() -> Result<(), Box<dyn Error>> {
+    let opt = Opt::from_args();
+
+    // Parse JSON strings to Values for validation
+    let node0: Value = serde_json::from_str(&opt.node0)
+        .map_err(|e| format!("Error parsing node0: {}", e))?;
+    let node1: Value = serde_json::from_str(&opt.node1)
+        .map_err(|e| format!("Error parsing node1: {}", e))?;
+
+    if opt.use_executable {
+        // Run using local executable
+        if let Err(e) = run_bellande_step_executable(
+            &opt.node0,
+            &opt.node1,
+            opt.limit,
+            opt.dimensions,
+        ) {
+            eprintln!("Error: {}", e);
+            process::exit(1);
+        }
+    } else {
+        // Run using API
+        match make_bellande_step_request(node0, node1, opt.limit, opt.dimensions).await {
+            Ok(result) => {
+                println!("{}", serde_json::to_string_pretty(&result)?);
+            }
+            Err(e) => {
+                eprintln!("Error: {}", e);
+                process::exit(1);
+            }
+        }
+    }
+
+    Ok(())
+}