diff --git a/autoload/tagbar.vim b/autoload/tagbar.vim
index 4d9dc61..2582999 100644
--- a/autoload/tagbar.vim
+++ b/autoload/tagbar.vim
@@ -3969,5 +3969,14 @@ function! tagbar#IsOpen() abort
     endif
 endfunction
 
+" tagbar#jump() {{{2
+function! tagbar#jump() abort
+    if &filetype !=# 'tagbar'
+        " Not in tagbar window - ignore this function call
+        return
+    endif
+    call s:JumpToTag(1)
+endfun
+
 " Modeline {{{1
 " vim: ts=8 sw=4 sts=4 et foldenable foldmethod=marker foldcolumn=1
diff --git a/doc/tagbar.txt b/doc/tagbar.txt
index 3350a8f..47cbd49 100644
--- a/doc/tagbar.txt
+++ b/doc/tagbar.txt
@@ -318,6 +318,13 @@ COMMANDS                                                     *tagbar-commands*
     the file size limit. So if the file is written and needs to be processed
     again, this command will need to be re-executed.
 
+:TagbarJump                                                       *:TagbarJump*
+    Jump to the tag under the cursor. This only works while the cursor is in
+    the tagbar window. This will leave the cursor in the tagbar window. It is
+    the same behavior as the |p| key mapping.
+
+    This command will call the |tagbar#jump()| function.
+
 ------------------------------------------------------------------------------
 FUNCTIONS                                                   *tagbar-functions*
 
@@ -360,6 +367,13 @@ FUNCTIONS                                                   *tagbar-functions*
     This function will return 1 if the tagbar window is open, else it will
     return 0.
 
+*tagbar#jump()*
+    Jump to the tag under the cursor. This only works while the cursor is in
+    the tagbar window. This will leave the cursor in the tagbar window. It is
+    the same behavior as the |p| key mapping.
+
+    This is the function called when using the |:TagbarJump| command.
+
 ------------------------------------------------------------------------------
 KEY MAPPINGS                                                     *tagbar-keys*
 
diff --git a/plugin/tagbar.vim b/plugin/tagbar.vim
index 68ef10f..c93077d 100644
--- a/plugin/tagbar.vim
+++ b/plugin/tagbar.vim
@@ -195,6 +195,8 @@ command! -nargs=? TagbarDebug         call tagbar#debug#start_debug(<f-args>)
 command! -nargs=0 TagbarDebugEnd      call tagbar#debug#stop_debug()
 command! -nargs=0 TagbarTogglePause   call tagbar#toggle_pause()
 command! -nargs=0 TagbarForceUpdate   call tagbar#ForceUpdate()
+command! -nargs=0 TagbarJump   call tagbar#jump()
+
 
 " Modeline {{{1
 " vim: ts=8 sw=4 sts=4 et foldenable foldmethod=marker foldcolumn=1