diff --git a/src/encoders/index.ts b/src/encoders/index.ts
index 55be6cf..e174b89 100644
--- a/src/encoders/index.ts
+++ b/src/encoders/index.ts
@@ -3,6 +3,7 @@ import OrientationEuler from './motion/orientation-euler';
 import OrientationQuaternion from './motion/orientation-quaternion';
 import RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
+import TrackedPointPosition from './motion/tracked-point-position';
 import RTTrPHeader from './rttrp-header';
 
 export const Encoders = {
@@ -12,4 +13,5 @@ export const Encoders = {
   CentroidPosition,
   OrientationQuaternion,
   OrientationEuler,
+  TrackedPointPosition,
 };
diff --git a/src/encoders/motion/tracked-point-position.ts b/src/encoders/motion/tracked-point-position.ts
new file mode 100644
index 0000000..f13f2c4
--- /dev/null
+++ b/src/encoders/motion/tracked-point-position.ts
@@ -0,0 +1,28 @@
+export default (
+  latency: number,
+  x: number,
+  y: number,
+  z: number,
+  index: number,
+  isLittleEndian: boolean = false
+): Uint8Array => {
+  const bytes = new Uint8Array(30);
+  const view = new DataView(bytes.buffer, bytes.byteOffset, bytes.byteLength);
+
+  let dataOffset = 0;
+  view.setUint8(dataOffset, 0x06);
+  dataOffset += 1;
+  view.setUint16(dataOffset, bytes.byteLength, isLittleEndian);
+  dataOffset += 2;
+  view.setUint16(dataOffset, latency, isLittleEndian);
+  dataOffset += 2;
+  view.setFloat64(dataOffset, x, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, y, isLittleEndian);
+  dataOffset += 8;
+  view.setFloat64(dataOffset, z, isLittleEndian);
+  dataOffset += 8;
+  view.setUint8(dataOffset, index);
+
+  return bytes;
+};