diff --git a/Chapter02-Digital/02-rtos-servo-control/02-rtos-servo-control.ino b/Chapter02-Digital/02-rtos-servo-control/02-rtos-servo-control.ino
new file mode 100644
index 0000000..de22d51
--- /dev/null
+++ b/Chapter02-Digital/02-rtos-servo-control/02-rtos-servo-control.ino
@@ -0,0 +1,78 @@
+// ====================================================
+// ArduRTOS Copyright(C) 2018 Furkan Türkal
+// This program comes with ABSOLUTELY NO WARRANTY; This is free software,
+// and you are welcome to redistribute it under certain conditions; See
+// file LICENSE, which is part of this source code package, for details.
+// ====================================================
+
+#include <Arduino_FreeRTOS.h>
+#include <Servo.h>
+
+#define PIN_SERVO_1 8
+#define PIN_SERVO_2 9
+
+Servo SERVO_1;
+Servo SERVO_2;
+
+void vTaskForward(void *pvParamethers);
+void vTaskBackward(void *pvParamethers);
+
+void setup() {
+  SERVO_1.attach(PIN_SERVO_1);
+  SERVO_2.attach(PIN_SERVO_2);
+  
+  xTaskCreate(
+    vTaskForward,
+    (const portCHAR *) "vTaskForward",
+    100,
+    NULL,
+    1,
+    NULL
+    );
+
+  xTaskCreate(
+    vTaskBackward,
+    (const portCHAR *) "vTaskBackward",
+    100,
+    NULL,
+    2,
+    NULL
+  );
+     
+  vTaskStartScheduler();
+}
+
+void loop() {
+  // Must be empty to run Tasks correctly
+}
+
+void vTaskForward(void *pvParameters){
+  (void) pvParameters;
+  const char *pcTaskName = "Task: ";
+
+  Serial.begin(9600);
+  Serial.println("Task[vTaskForward]::Initialized!");
+
+  for(;;){
+      Serial.println(pcTaskName);
+      SERVO_1.write(180);
+      SERVO_2.write(180);
+      vTaskDelay(1000 / portTICK_PERIOD_MS);
+    }
+}
+
+void vTaskBackward(void *pvParameters){
+  (void) pvParameters;
+  const char *pcTaskName = "Task: ";
+
+  Serial.begin(9600);
+  Serial.println("Task[vTaskBackward]::Initialized!");
+
+  for(;;){
+    Serial.println(pcTaskName);
+    SERVO_1.write(90);
+    SERVO_2.write(90);
+    vTaskDelay(1000 / portTICK_PERIOD_MS);
+  }
+}
+