diff --git a/doc/connectivity/usb/device_next/usb_device.rst b/doc/connectivity/usb/device_next/usb_device.rst
index a21da33fdf8..852da003cef 100644
--- a/doc/connectivity/usb/device_next/usb_device.rst
+++ b/doc/connectivity/usb/device_next/usb_device.rst
@@ -76,3 +76,112 @@ configuration ``-DCONF_FILE=usbd_next_prj.conf`` either directly or via
   set the configuration overlay file
   ``-DDEXTRA_CONF_FILE=overlay-usbd_next_ecm.conf`` and devicetree overlay file
   ``-DDTC_OVERLAY_FILE="usbd_next_ecm.overlay`` either directly or via ``west``.
+
+How to configure and enable USB device support
+**********************************************
+
+For the USB device support samples in the Zephyr project repository, we have a
+common file for instantiation, configuration and initialization,
+:zephyr_file:`samples/subsys/usb/common/sample_usbd_init.c`. The following code
+snippets from this file are used as examples. USB Samples Kconfig options used
+in the USB samples and prefixed with ``SAMPLE_USBD_`` have default values
+specific to the Zephyr project and the scope is limited to the project samples.
+In the examples below, you will need to replace these Kconfig options and other
+defaults with values appropriate for your application or hardware.
+
+The USB device stack requires a context structure to manage its properties and
+runtime data. The preferred way to define a device context is to use the
+:c:macro:`USBD_DEVICE_DEFINE` macro. This creates a static
+:c:struct:`usbd_context` variable with a given name. Any number of contexts may
+be instantiated. A USB controller device can be assigned to multiple contexts,
+but only one context can be initialized and used at a time. Context properties
+must not be directly accessed or manipulated by the application.
+
+.. literalinclude:: ../../../../samples/subsys/usb/common/sample_usbd_init.c
+   :language: c
+   :start-after: doc device instantiation start
+   :end-before: doc device instantiation end
+
+Your USB device may have manufacturer, product, and serial number string
+descriptors. To instantiate these string descriptors, the application should
+use the appropriate :c:macro:`USBD_DESC_MANUFACTURER_DEFINE`,
+:c:macro:`USBD_DESC_PRODUCT_DEFINE`, and
+:c:macro:`USBD_DESC_SERIAL_NUMBER_DEFINE` macros. String descriptors also
+require a single instantiation of the language descriptor using the
+:c:macro:`USBD_DESC_LANG_DEFINE` macro.
+
+.. literalinclude:: ../../../../samples/subsys/usb/common/sample_usbd_init.c
+   :language: c
+   :start-after: doc string instantiation start
+   :end-before: doc string instantiation end
+
+String descriptors must be added to the device context at runtime before
+initializing the USB device with :c:func:`usbd_add_descriptor`.
+
+.. literalinclude:: ../../../../samples/subsys/usb/common/sample_usbd_init.c
+   :language: c
+   :start-after: doc add string descriptor start
+   :end-before: doc add string descriptor end
+
+USB device requires at least one configuration instance per supported speed.
+The application should use :c:macro:`USBD_CONFIGURATION_DEFINE` to instantiate
+a configuration. Later, USB device functions are assigned to a configuration.
+
+.. literalinclude:: ../../../../samples/subsys/usb/common/sample_usbd_init.c
+   :language: c
+   :start-after: doc configuration instantiation start
+   :end-before: doc configuration instantiation end
+
+Each configuration instance for a specific speed must be added to the device
+context at runtime before the USB device is initialized using
+:c:func:`usbd_add_configuration`. Note :c:enumerator:`USBD_SPEED_FS` and
+:c:enumerator:`USBD_SPEED_HS`. The first full-speed or high-speed
+configuration will get ``bConfigurationValue`` one, and then further upward.
+
+.. literalinclude:: ../../../../samples/subsys/usb/common/sample_usbd_init.c
+   :language: c
+   :start-after: doc configuration register start
+   :end-before: doc configuration register end
+
+
+Although we have already done a lot, this USB device has no function. A device
+can have multiple configurations with different set of functions at different
+speeds. A function or class can be registered on a USB device before
+it is initialized using :c:func:`usbd_register_class`. The desired
+configuration is specified using :c:enumerator:`USBD_SPEED_FS` or
+:c:enumerator:`USBD_SPEED_HS` and the configuration number.  For simple cases,
+:c:func:`usbd_register_all_classes` can be used to register all available
+instances.
+
+.. literalinclude:: ../../../../samples/subsys/usb/common/sample_usbd_init.c
+   :language: c
+   :start-after: doc functions register start
+   :end-before: doc functions register end
+
+The last step in the preparation is to initialize the device with
+:c:func:`usbd_init`. After this, the configuration of the device cannot be
+changed. A device can be deinitialized with :c:func:`usbd_shutdown` and all
+instances can be reused, but the previous steps must be repeated. So it is
+possible to shutdown a device, register another type of configuration or
+function, and initialize it again.  At the USB controller level,
+:c:func:`usbd_init` does only what is necessary to detect VBUS changes. There
+are controller types where the next step is only possible if a VBUS signal is
+present.
+
+A function or class implementation may require its own specific configuration
+steps, which should be performed prior to initializing the USB device.
+
+.. literalinclude:: ../../../../samples/subsys/usb/common/sample_usbd_init.c
+   :language: c
+   :start-after: doc device init start
+   :end-before: doc device init end
+
+The final step to enable the USB device is :c:func:`usbd_enable`, after that,
+if the USB device is connected to a USB host controller, the host can start
+enumerating the device. The application can disable the USB device using
+:c:func:`usbd_disable`.
+
+.. literalinclude:: ../../../../samples/subsys/usb/hid-keyboard/src/main.c
+   :language: c
+   :start-after: doc device enable start
+   :end-before: doc device enable end
diff --git a/samples/subsys/usb/common/sample_usbd_init.c b/samples/subsys/usb/common/sample_usbd_init.c
index 2c559aa789a..f6b2963b212 100644
--- a/samples/subsys/usb/common/sample_usbd_init.c
+++ b/samples/subsys/usb/common/sample_usbd_init.c
@@ -15,27 +15,40 @@ LOG_MODULE_REGISTER(usbd_sample_config);
 
 #define ZEPHYR_PROJECT_USB_VID		0x2fe3
 
+/* doc device instantiation start */
+/*
+ * Instantiate a context named sample_usbd using the default USB device
+ * controller, the Zephyr project vendor ID, and the sample product ID.
+ * Zephyr project vendor ID must not be used outside of Zephyr samples.
+ */
 USBD_DEVICE_DEFINE(sample_usbd,
 		   DEVICE_DT_GET(DT_NODELABEL(zephyr_udc0)),
 		   ZEPHYR_PROJECT_USB_VID, CONFIG_SAMPLE_USBD_PID);
+/* doc device instantiation end */
 
+/* doc string instantiation start */
 USBD_DESC_LANG_DEFINE(sample_lang);
 USBD_DESC_MANUFACTURER_DEFINE(sample_mfr, CONFIG_SAMPLE_USBD_MANUFACTURER);
 USBD_DESC_PRODUCT_DEFINE(sample_product, CONFIG_SAMPLE_USBD_PRODUCT);
 USBD_DESC_SERIAL_NUMBER_DEFINE(sample_sn);
+/* doc string instantiation end */
 
+/* doc configuration instantiation start */
 static const uint8_t attributes = (IS_ENABLED(CONFIG_SAMPLE_USBD_SELF_POWERED) ?
 				   USB_SCD_SELF_POWERED : 0) |
 				  (IS_ENABLED(CONFIG_SAMPLE_USBD_REMOTE_WAKEUP) ?
 				   USB_SCD_REMOTE_WAKEUP : 0);
 
+/* Full speed configuration */
 USBD_CONFIGURATION_DEFINE(sample_fs_config,
 			  attributes,
 			  CONFIG_SAMPLE_USBD_MAX_POWER);
 
+/* High speed configuration */
 USBD_CONFIGURATION_DEFINE(sample_hs_config,
 			  attributes,
 			  CONFIG_SAMPLE_USBD_MAX_POWER);
+/* doc configuration instantiation end */
 
 /*
  * This does not yet provide valuable information, but rather serves as an
@@ -73,6 +86,7 @@ struct usbd_context *sample_usbd_init_device(usbd_msg_cb_t msg_cb)
 {
 	int err;
 
+	/* doc add string descriptor start */
 	err = usbd_add_descriptor(&sample_usbd, &sample_lang);
 	if (err) {
 		LOG_ERR("Failed to initialize language descriptor (%d)", err);
@@ -96,6 +110,7 @@ struct usbd_context *sample_usbd_init_device(usbd_msg_cb_t msg_cb)
 		LOG_ERR("Failed to initialize SN descriptor (%d)", err);
 		return NULL;
 	}
+	/* doc add string descriptor end */
 
 	if (usbd_caps_speed(&sample_usbd) == USBD_SPEED_HS) {
 		err = usbd_add_configuration(&sample_usbd, USBD_SPEED_HS,
@@ -114,21 +129,26 @@ struct usbd_context *sample_usbd_init_device(usbd_msg_cb_t msg_cb)
 		sample_fix_code_triple(&sample_usbd, USBD_SPEED_HS);
 	}
 
+	/* doc configuration register start */
 	err = usbd_add_configuration(&sample_usbd, USBD_SPEED_FS,
 				     &sample_fs_config);
 	if (err) {
 		LOG_ERR("Failed to add Full-Speed configuration");
 		return NULL;
 	}
+	/* doc configuration register end */
 
+	/* doc functions register start */
 	err = usbd_register_all_classes(&sample_usbd, USBD_SPEED_FS, 1);
 	if (err) {
 		LOG_ERR("Failed to add register classes");
 		return NULL;
 	}
+	/* doc functions register end */
 
 	sample_fix_code_triple(&sample_usbd, USBD_SPEED_FS);
 
+	/* doc message callback register start */
 	if (msg_cb != NULL) {
 		err = usbd_msg_register_cb(&sample_usbd, msg_cb);
 		if (err) {
@@ -136,6 +156,7 @@ struct usbd_context *sample_usbd_init_device(usbd_msg_cb_t msg_cb)
 			return NULL;
 		}
 	}
+	/* doc message callback register end */
 
 	if (IS_ENABLED(CONFIG_SAMPLE_USBD_20_EXTENSION_DESC)) {
 		(void)usbd_device_set_bcd(&sample_usbd, USBD_SPEED_FS, 0x0201);
@@ -148,11 +169,13 @@ struct usbd_context *sample_usbd_init_device(usbd_msg_cb_t msg_cb)
 		}
 	}
 
+	/* doc device init start */
 	err = usbd_init(&sample_usbd);
 	if (err) {
 		LOG_ERR("Failed to initialize device support");
 		return NULL;
 	}
+	/* doc device init end */
 
 	return &sample_usbd;
 }
diff --git a/samples/subsys/usb/hid-keyboard/src/main.c b/samples/subsys/usb/hid-keyboard/src/main.c
index 393edfcf06a..b56fe26c0c7 100644
--- a/samples/subsys/usb/hid-keyboard/src/main.c
+++ b/samples/subsys/usb/hid-keyboard/src/main.c
@@ -184,11 +184,13 @@ int main(void)
 		return -ENODEV;
 	}
 
+	/* doc device enable start */
 	ret = usbd_enable(sample_usbd);
 	if (ret) {
 		LOG_ERR("Failed to enable device support");
 		return ret;
 	}
+	/* doc device enable end */
 
 	LOG_INF("HID keyboard sample is initialized");