diff --git a/README.md b/README.md
index 3f372cda008dbe34302d9b5137f89b9f8c3f4852..6ed1d137154898b7b77e8fd6fb17ca7220427829 100644
--- a/README.md
+++ b/README.md
@@ -67,6 +67,16 @@ To open new terminals on the same container (last container):
 docker exec -it `docker ps -qn 1` /bin/bash
 ```
 
+If you exit from all terminals, the container becomes exited and the previous command won't work, "Container is not running". 
+
+To start the last container again use:
+
+```bash
+docker start -a -i `docker ps -l -q`
+```
+
+This command uses the last created container. To use a different one, substitute the `` `docker ps -l -q` `` with the container ID or name, which can be retrieved with `docker container list -a`
+
 ## Disclaimer
 
 Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.