diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index ff927de4f..ad7c2d06f 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -27,5 +27,5 @@ else:
   else:
     qt_libs += ["GL"]
 
-  qt_src = ["qt/ui.cc", "qt/window.cc", "qt/offroad/settings.cc", "qt/qt_sound.cc"] + src
+  qt_src = ["qt/ui.cc", "qt/window.cc", "qt/qt_sound.cc", "qt/offroad/settings.cc", "qt/offroad/onboarding.cc"] + src
   qt_env.Program("_ui", qt_src, LIBS=qt_libs + libs)
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
new file mode 100644
index 000000000..b35de4519
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -0,0 +1,103 @@
+#include <string>
+
+#include "onboarding.hpp"
+
+#include <QStackedLayout>
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QPushButton>
+#include <QLabel>
+
+#include "common/params.h"
+
+
+QWidget * OnboardingWindow::terms_screen() {
+  QVBoxLayout *main_layout = new QVBoxLayout();
+  main_layout->setMargin(30);
+  main_layout->setSpacing(30);
+
+  QLabel *title = new QLabel("Review Terms");
+  title->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Minimum);
+  title->setStyleSheet(R"(
+    QLabel {
+      font-size: 80px;
+      text-align: left;
+      margin: 0;
+      padding: 0;
+    }
+  )");
+  main_layout->addWidget(title);
+
+  QLabel *terms = new QLabel("See terms at https://my.comma.ai/terms");
+  terms->setAlignment(Qt::AlignCenter);
+  terms->setStyleSheet(R"(
+    QLabel {
+      font-size: 35px;
+      border-radius: 10px;
+      text-align: center;
+      background-color: #292929;
+    }
+  )");
+  main_layout->addWidget(terms, Qt::AlignTop);
+
+  QHBoxLayout *btn_layout = new QHBoxLayout();
+  //btn_layout->setSpacing(30);
+
+  QPushButton *decline_btn = new QPushButton("Decline");
+  btn_layout->addWidget(decline_btn);
+  QPushButton *accept_btn = new QPushButton("Accept");
+  btn_layout->addWidget(accept_btn);
+  main_layout->addLayout(btn_layout);
+
+  QObject::connect(accept_btn, &QPushButton::released, [=]() {
+    Params().write_db_value("HasAcceptedTerms", LATEST_TERMS_VERSION);
+    updateActiveScreen();
+  });
+
+  QWidget *widget = new QWidget;
+  widget->setLayout(main_layout);
+  widget->setStyleSheet(R"(
+    QLabel {
+      color: white;
+    }
+    QPushButton {
+      font-size: 50px;
+      padding: 50px;
+      border-radius: 10px;
+      background-color: #292929;
+    }
+  )");
+
+  return widget;
+}
+
+void OnboardingWindow::updateActiveScreen() {
+
+  Params params = Params();
+
+  bool accepted_terms = params.get("HasAcceptedTerms", false).compare(LATEST_TERMS_VERSION) == 0;
+
+  if (accepted_terms) {
+    emit onboardingDone();
+  }
+}
+
+OnboardingWindow::OnboardingWindow(QWidget *parent) : QWidget(parent) {
+
+  // Onboarding flow: terms -> account pairing -> training
+
+
+  QStackedLayout *main_layout = new QStackedLayout;
+  main_layout->addWidget(terms_screen());
+  setLayout(main_layout);
+  setStyleSheet(R"(
+    * {
+      background-color: black;
+    }
+  )");
+
+  // TODO: implement the training guide
+  Params().write_db_value("CompletedTrainingVersion", LATEST_TRAINING_VERSION);
+
+  updateActiveScreen();
+}
diff --git a/selfdrive/ui/qt/offroad/onboarding.hpp b/selfdrive/ui/qt/offroad/onboarding.hpp
new file mode 100644
index 000000000..7fdf4e140
--- /dev/null
+++ b/selfdrive/ui/qt/offroad/onboarding.hpp
@@ -0,0 +1,24 @@
+#pragma once
+
+#include <QWidget>
+
+
+// TODO: this is defined in python too
+#define LATEST_TERMS_VERSION "2"
+#define LATEST_TRAINING_VERSION "0.2.0"
+
+class OnboardingWindow : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit OnboardingWindow(QWidget *parent = 0);
+
+signals:
+  void onboardingDone();
+
+private:
+  QWidget * terms_screen();
+
+private slots:
+  void updateActiveScreen();
+};
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index fc1362c14..3c659091e 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -137,8 +137,9 @@ QWidget * device_panel() {
 
   QPushButton *clear_cal_btn = new QPushButton("Reset Calibration");
   device_layout->addWidget(clear_cal_btn);
-  QObject::connect(clear_cal_btn, &QPushButton::released,
-                   [=]() { Params().delete_db_value("CalibrationParams"); });
+  QObject::connect(clear_cal_btn, &QPushButton::released, [=]() {
+    Params().delete_db_value("CalibrationParams");
+  });
 
   std::map<std::string, const char *> power_btns = {
     {"Power Off", "sudo poweroff"},
@@ -154,7 +155,6 @@ QWidget * device_panel() {
 #endif
   }
 
-
   QWidget *widget = new QWidget;
   widget->setLayout(device_layout);
   widget->setStyleSheet(R"(
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 2be3552b5..a9ce85db9 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -8,11 +8,10 @@
 
 #include <QVBoxLayout>
 #include <QMouseEvent>
-#include <QPushButton>
-#include <QGridLayout>
 
 #include "window.hpp"
 #include "offroad/settings.hpp"
+#include "offroad/onboarding.hpp"
 
 #include "paint.hpp"
 #include "common/util.h"
@@ -38,18 +37,24 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   set_core_affinity(7);
 #endif
 
-  GLWindow * glWindow = new GLWindow(this);
+  GLWindow *glWindow = new GLWindow(this);
   main_layout->addWidget(glWindow);
 
-  SettingsWindow * settingsWindow = new SettingsWindow(this);
+  SettingsWindow *settingsWindow = new SettingsWindow(this);
   main_layout->addWidget(settingsWindow);
 
+  OnboardingWindow *onboardingWindow = new OnboardingWindow(this);
+  main_layout->addWidget(onboardingWindow);
 
   main_layout->setMargin(0);
   setLayout(main_layout);
   QObject::connect(glWindow, SIGNAL(openSettings()), this, SLOT(openSettings()));
   QObject::connect(settingsWindow, SIGNAL(closeSettings()), this, SLOT(closeSettings()));
 
+  // start at onboarding
+  //main_layout->setCurrentWidget(onboardingWindow);
+  QObject::connect(onboardingWindow, SIGNAL(onboardingDone()), this, SLOT(closeSettings()));
+
   setStyleSheet(R"(
     * {
       color: white;