diff --git a/spatialmath/geom2d.py b/spatialmath/geom2d.py
index ee42c08f..4344de56 100755
--- a/spatialmath/geom2d.py
+++ b/spatialmath/geom2d.py
@@ -146,8 +146,8 @@ def contains(self, p: ArrayLike2, tol: float = 20) -> bool:
         """
         Test if point is in line
 
-        :param p1: point to test
-        :type p1: array_like(2) or array_like(3)
+        :param p: point to test
+        :type p: array_like(2) or array_like(3)
         :param tol: tolerance in units of eps, defaults to 20
         :type tol: float
         :return: True if point lies in the line
diff --git a/spatialmath/twist.py b/spatialmath/twist.py
index 0645aef3..8b7729e0 100644
--- a/spatialmath/twist.py
+++ b/spatialmath/twist.py
@@ -483,8 +483,8 @@ def UnitRevolute(cls, a, q, pitch=None):
         :type a: array_like(3)
         :param q: Point on the line of action
         :type q: array_like(3)
-        :param p: pitch, defaults to None
-        :type p: float, optional
+        :param pitch: pitch, defaults to None
+        :type pitch: float, optional
         :return: a rotational or helical twist
         :rtype: Twist instance
 
@@ -1030,8 +1030,8 @@ def exp(self, theta=1, unit="rad"):
 
         :param theta: rotation magnitude, defaults to None
         :type theta: float, optional
-        :param units: rotational units, defaults to 'rad'
-        :type units: str, optional
+        :param unit: rotational units, defaults to 'rad'
+        :type unit: str, optional
         :return: SE(3) matrix
         :rtype: SE3 instance