Our three axis SCARA robotic arm was designed with the intention be of being used to draw with a pencil, marker, crayon, or pen on paper. It was meant to be able to draw continuous and non-continuous shapes. We implemented inverse and forward kinematics to properly position the arm and made use of an Arduino Uno. To implement G-code into the robotic arm, we used the Arduino IDE serial monitor and allowed users to input their commands directly. We also made use of stepper motors and stepper motor drivers as the primary motion system for our arm. The most notable achievements of our project are that it is controlled completely by direct user input and utilizes both G-code and a joystick as different methods of control. Future improvements that could be made to the project are improving the movement system to be more accurate and adjusting the limitations of movement through the joystick.