diff --git a/CHANGELOG.md b/CHANGELOG.md
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # Changelog
 
+## [0.5.0.1] - 2024-08-04
+
+### Changed
+
+* Errors involving commands now show command descriptions.
+
 ## [0.5.0.0] - 2024-08-03
 
 ### Changed
diff --git a/opt-env-conf.cabal b/opt-env-conf.cabal
--- a/opt-env-conf.cabal
+++ b/opt-env-conf.cabal
@@ -5,7 +5,7 @@
 -- see: https://github.com/sol/hpack
 
 name:           opt-env-conf
-version:        0.5.0.0
+version:        0.5.0.1
 synopsis:       Settings parsing for Haskell: command-line arguments, environment variables, and configuration values.
 homepage:       https://github.com/NorfairKing/opt-env-conf#readme
 bug-reports:    https://github.com/NorfairKing/opt-env-conf/issues
diff --git a/src/OptEnvConf/Error.hs b/src/OptEnvConf/Error.hs
--- a/src/OptEnvConf/Error.hs
+++ b/src/OptEnvConf/Error.hs
@@ -32,8 +32,8 @@
   | ParseErrorMissingSwitch !(Maybe OptDoc)
   | ParseErrorMissingConfVal !(Maybe ConfDoc)
   | ParseErrorConfigRead !(Maybe ConfDoc) !String
-  | ParseErrorMissingCommand ![String]
-  | ParseErrorUnrecognisedCommand !String ![String]
+  | ParseErrorMissingCommand ![CommandDoc ()]
+  | ParseErrorUnrecognisedCommand !String ![CommandDoc ()]
   | ParseErrorAllOrNothing
   | ParseErrorUnrecognised !(NonEmpty String)
   deriving (Show)
@@ -115,14 +115,13 @@
             : maybe [] renderConfDoc md
             ++ [[chunk $ T.pack $ show s]]
         ParseErrorMissingCommand cs ->
-          [ ["Missing command, available commands:"],
-            unwordsChunks $ map (pure . fore yellow . chunk . T.pack) cs
-          ]
+          ["Missing command, available commands:"]
+            : availableCommandsLines cs
         ParseErrorUnrecognisedCommand c cs ->
           [ [fore red "Unrecognised command: ", fore yellow $ chunk (T.pack c)],
-            [fore blue "available commands:"],
-            unwordsChunks $ map (pure . fore yellow . chunk . T.pack) cs
+            [fore blue "available commands:"]
           ]
+            ++ availableCommandsLines cs
         ParseErrorAllOrNothing ->
           [ ["You are seeing this error because at least one, but not all, of the settings in an allOrNothing (or subSettings) parser have been defined."]
           ]
@@ -130,3 +129,10 @@
           ["Unrecognised args: " : unwordsChunks (map (pure . chunk . T.pack) (NE.toList leftovers))],
       maybe [] (pure . ("see " :) . pure . srcLocChunk) parseErrorSrcLoc
     ]
+
+availableCommandsLines :: [CommandDoc a] -> [[Chunk]]
+availableCommandsLines = map $ \CommandDoc {..} ->
+  [ commandChunk commandDocArgument,
+    ": ",
+    helpChunk commandDocHelp
+  ]
diff --git a/src/OptEnvConf/Run.hs b/src/OptEnvConf/Run.hs
--- a/src/OptEnvConf/Run.hs
+++ b/src/OptEnvConf/Run.hs
@@ -453,15 +453,16 @@
         debug [syntaxChunk "Commands", ": ", mSrcLocChunk mLoc]
         ppIndent $ do
           mS <- ppArg
+          let docsForErrors = map (void . commandParserDocs) cs
           case mS of
             Nothing -> do
               debug ["No argument found for choosing a command."]
-              ppError mLoc $ ParseErrorMissingCommand $ map commandArg cs
+              ppError mLoc $ ParseErrorMissingCommand docsForErrors
             Just s -> do
               case find ((== s) . commandArg) cs of
                 Nothing -> do
                   debug ["Argument found, but no matching command: ", chunk $ T.pack $ show s]
-                  ppError mLoc $ ParseErrorUnrecognisedCommand s (map commandArg cs)
+                  ppError mLoc $ ParseErrorUnrecognisedCommand s docsForErrors
                 Just c -> do
                   debug ["Set command to ", commandChunk (commandArg c)]
                   go $ commandParser c