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5.4.1 Texinfo introduction
The markup language we use for writing LilyPond documentation is called Texinfo; you can see its manual here:
https://www.gnu.org/software/texinfo/manual/texinfo/
However, you don’t need to read those documents. The most important thing to notice is that text is text. If you see a mistake in the text, you can fix it. If you want to change the order of something, you can cut and paste that stuff into a new location.
Note: As a rule of thumb, follow the examples in the existing
documentation. You can learn most of what you need to know from
this; if you want to do anything fancy, discuss it on
lilypond-devel
first.