diff --git a/dm_control/mujoco/tutorial.ipynb b/dm_control/mujoco/tutorial.ipynb
index 1f42e8a4..4f958453 100644
--- a/dm_control/mujoco/tutorial.ipynb
+++ b/dm_control/mujoco/tutorial.ipynb
@@ -93,7 +93,7 @@
         "\"\"\")\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.21\n",
+        "!pip install -q dm_control\u003e=1.0.22\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",
diff --git a/requirements.txt b/requirements.txt
index 25c7f2db..186f72f6 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -6,7 +6,7 @@ h5py==3.11.0
 labmaze==1.0.6
 lxml==5.2.2
 mock==5.1.0
-mujoco==3.2.0
+mujoco==3.2.1
 nose==1.3.7
 nose-xunitmp==0.4.1
 numpy==1.24.4; python_version == '3.8'
diff --git a/setup.py b/setup.py
index f0615e73..06dc45d2 100644
--- a/setup.py
+++ b/setup.py
@@ -177,7 +177,7 @@ def is_excluded(s):
 
 setup(
     name='dm_control',
-    version='1.0.21',
+    version='1.0.22',
     description='Continuous control environments and MuJoCo Python bindings.',
     long_description="""
 # `dm_control`: DeepMind Infrastructure for Physics-Based Simulation.
@@ -205,7 +205,7 @@ def is_excluded(s):
         'glfw',
         'labmaze',
         'lxml',
-        'mujoco >= 3.2.0',
+        'mujoco >= 3.2.1',
         'numpy >= 1.9.0',
         'protobuf >= 3.19.4',  # TensorFlow requires protobuf<3.20 (b/182876485)
         'pyopengl >= 3.1.4',
diff --git a/tutorial.ipynb b/tutorial.ipynb
index d4daad57..89e2ef50 100644
--- a/tutorial.ipynb
+++ b/tutorial.ipynb
@@ -93,7 +93,7 @@
         "\"\"\")\n",
         "\n",
         "print('Installing dm_control...')\n",
-        "!pip install -q dm_control\u003e=1.0.21\n",
+        "!pip install -q dm_control\u003e=1.0.22\n",
         "\n",
         "# Configure dm_control to use the EGL rendering backend (requires GPU)\n",
         "%env MUJOCO_GL=egl\n",