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Programmatic mapping (PM) is a collaboration among key population (KP) communities (sex workers [SWs], people who inject drugs [PWID], men who have sex with men [MSM], and transgender people); service delivery providers; and researchers to systematically identify and map the locations where people most at risk of acquiring and transmitting HIV can be reached. It is a tool to focus HIV prevention programing and resources where they will have the greatest impact on the HIV epidemic. The Programmatic Mapping Readiness Assessment Tool provides an adaptable step-by-step guide for conducting an mapping readiness assessment (MRA). The MRA focuses on the safety and well-being of KPs as a group and individuals within the group; helps identify the potential risks and benefits of conducting PM before initiating the mapping process; and guides discussions among program staff, steering committee members, and community leaders in creating an action plan to address risk.