diff --git a/CHANGELOG.md b/CHANGELOG.md
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+++ b/CHANGELOG.md
@@ -0,0 +1,130 @@
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+## [0.6.4]
+
+### Miscellaneous Tasks
+
+- Add MSRV (1.60)
+- Upgrade dependencies
+
+## [0.6.3]
+
+### Styling
+
+- Format Cargo.toml
+- More Cargo.toml formatting
+- Move clippy allows to specific lines of code
+
+### Testing
+
+- Add (and fix) more deny lints
+- Add audit, deny, outdated, and udeps to CI
+- Fix cargo audit advisory db location
+- Make accepted licenses explicit
+
+## [0.6.2]
+
+### Bug Fixes
+
+- Allow clippy lints on specific tests
+
+### Refactor
+
+- Change std::time::Duration to std::core::Duration
+- Change unwrap()s to expects() and deny in clippy
+- Clean up by using cfg-if where possible
+
+### Testing
+
+- Use prop_assert* macros where appropriate
+
+### Dev
+
+- Add husky for pre-commit hook generation
+
+## [0.6.1]
+
+### Refactor
+
+- Switch to array-init
+
+## [0.6.0]
+
+### Testing
+
+- Add more stuff to CI
+- Add examples to CI
+- Get to 100% coverage, clean up cargo features
+
+## [0.5.4]
+
+### Performance
+
+- Add benchmark, optimize
+
+## [0.5.3]
+
+### Documentation
+
+- Updates to NetworkCoordinate
+
+## [0.5.2]
+
+### Features
+
+- F32/f64 cargo features added
+
+## [0.5.1]
+
+### Documentation
+
+- Udpate crate description
+- Minor updates re: type aliases, crate to 0.5.1
+
+## [0.5.0]
+
+### Features
+
+- Improve ergonomics for serialization format
+- Type aliases for 2D/3D NetworkCoordinates
+
+## [0.4.1]
+
+### Bug Fixes
+
+- Exclude examples from crate
+
+## [0.4.0]
+
+### Bug Fixes
+
+- Add numeric stability
+
+### Features
+
+- Add PlanetLab example
+
+### Testing
+
+- Add proptest, make vec mul/div scalar safer
+- Add property tests to HeightVector
+- Add test for NetworkCoordinate::estimate_rtt
+
+### Misc
+
+- Formatting
+
+## [0.3.1]
+
+### Documentation
+
+- Add link to docs.rs in README
+- Add link to ticket tracker
+
+### Features
+
+- Add serde
+
+<!-- generated by git-cliff -->
diff --git a/cliff.toml b/cliff.toml
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--- /dev/null
+++ b/cliff.toml
@@ -0,0 +1,83 @@
+# git-cliff ~ default configuration file
+# https://git-cliff.org/docs/configuration
+#
+# Lines starting with "#" are comments.
+# Configuration options are organized into tables and keys.
+# See documentation for more information on available options.
+
+[changelog]
+# changelog header
+header = """
+# Changelog\n
+All notable changes to this project will be documented in this file.\n
+"""
+# template for the changelog body
+# https://keats.github.io/tera/docs/#introduction
+body = """
+{% if version %}\
+    ## [{{ version | trim_start_matches(pat="v") }}] - {{ timestamp | date(format="%Y-%m-%d") }}
+{% else %}\
+    ## [unreleased]
+{% endif %}\
+{% for group, commits in commits | group_by(attribute="group") %}
+    ### {{ group | upper_first }}
+    {% for commit in commits %}
+        - {% if commit.breaking %}[**breaking**] {% endif %}{{ commit.message | upper_first }}\
+    {% endfor %}
+{% endfor %}\n
+"""
+# remove the leading and trailing whitespace from the template
+trim = true
+# changelog footer
+footer = """
+<!-- generated by git-cliff -->
+"""
+# postprocessors
+postprocessors = [
+  # { pattern = '<REPO>', replace = "https://github.com/orhun/git-cliff" }, # replace repository URL
+]
+[git]
+# parse the commits based on https://www.conventionalcommits.org
+conventional_commits = true
+# filter out the commits that are not conventional
+filter_unconventional = true
+# process each line of a commit as an individual commit
+split_commits = false
+# regex for preprocessing the commit messages
+commit_preprocessors = [
+  # { pattern = '\((\w+\s)?#([0-9]+)\)', replace = "([#${2}](<REPO>/issues/${2}))"}, # replace issue numbers
+]
+# regex for parsing and grouping commits
+commit_parsers = [
+  { message = "^feat", group = "Features" },
+  { message = "^fix", group = "Bug Fixes" },
+  { message = "^doc", group = "Documentation" },
+  { message = "^perf", group = "Performance" },
+  { message = "^refactor", group = "Refactor" },
+  { message = "^style", group = "Styling" },
+  { message = "^test", group = "Testing" },
+  { message = "^chore\\(release\\): prepare for", skip = true },
+  { message = "^chore\\(deps\\)", skip = true },
+  { message = "^chore\\(pr\\)", skip = true },
+  { message = "^chore\\(pull\\)", skip = true },
+  { message = "^chore|ci", group = "Miscellaneous Tasks" },
+  { body = ".*security", group = "Security" },
+  { message = "^revert", group = "Revert" },
+]
+# protect breaking changes from being skipped due to matching a skipping commit_parser
+protect_breaking_commits = false
+# filter out the commits that are not matched by commit parsers
+filter_commits = false
+# regex for matching git tags
+tag_pattern = "v[0-9].*"
+
+# regex for skipping tags
+skip_tags = "v0.1.0-beta.1"
+# regex for ignoring tags
+ignore_tags = ""
+# sort the tags topologically
+topo_order = false
+# sort the commits inside sections by oldest/newest order
+sort_commits = "oldest"
+# limit the number of commits included in the changelog.
+# limit_commits = 42