Abstract: A surgical robotic system has at least two robotic manipulator arms. A user input device has a single handle configured to allow a surgeon to input instructions to the robotic surgical system to cause movement of the first instrument by a first robotic manipulator arm, and to cause movement of the second instrument by a second robotic manipulator arm. The user input device can include a first input handle moveable in multiple degrees of freedom to generate input for movement of the first instrument, and an auxiliary input on the handle to generate input for movement of the second instrument.