diff --git a/build.js b/build.js
index 7136042..77bc982 100644
--- a/build.js
+++ b/build.js
@@ -13,6 +13,7 @@ files.push('src/plugins/autoplay/autoplay.js',
            'src/plugins/form/form.js',
            'src/plugins/fullscreen/fullscreen.js',
            'src/plugins/goto/goto.js',
+           'src/plugins/bookmark/bookmark.js',
            'src/plugins/help/help.js',
            'src/plugins/impressConsole/impressConsole.js',
            'src/plugins/media/media.js',
diff --git a/examples/2D-navigation/index.html b/examples/2D-navigation/index.html
index c6dc6d7..9d0b888 100644
--- a/examples/2D-navigation/index.html
+++ b/examples/2D-navigation/index.html
@@ -28,21 +28,42 @@
 
         <ul>
         <li>Impress.js allows you to layout your presentation in a 3D space</li>
-        <li>Now <a href="https://github.com/impress/impress.js/tree/master/src/plugins/goto">the
-           goto plugin</a> also allows you to specify
+        <li><a href="https://github.com/impress/impress.js/tree/master/src/plugins/goto">The
+           goto plugin</a> allows you to specify
            non-linear navigation!</li>
         <li>This demo can be navigated by
             <ul>
+            <li>continuously pressing Space</li>
             <li>continuously pressing Right Arrow</li>
             <li>continuously pressing Down Arrow</li>
             <li>(or freely, pressing Up, Down, Right, Left as you choose)</li>
             </ul>
+        <li>It's up to you to decide which is the better structure</li>
+        </li>
+    </div>
+
+    <div id="bm0" class="step" data-scale="1" data-rel-x="1500" data-rel-y="0"
+	 data-bookmark-key-list="0">
+        <h1>Using bookmark hotkeys</h1>
+        <ul>
+        <li><a href="https://github.com/impress/impress.js/tree/master/src/plugins/bookmark">The
+           bookmark plugin</a> also allows you to specify
+           non-linear navigation, in a different way.</li>
+        <li>This demo can <em>also</em> be navigated by
+            <ul>
+            <li>pressing 1 2 3 4 5 6 7 8 9 to fast travel directly</li>
+            <li>pressing J J J, K K K, L L L to cycle vertically</li>
+            <li>pressing U U U, I I I, O O O to cycle horizontally</li>
+            <li>pressing Z or [ to zoom out to the full view</li>
+            <li>pressing 0 to come back to this text</li>
+            </ul>
         </li>
         <li>It's up to you to decide which is the better structure</li>
         </ul>
     </div>
 
-    <div id="contents" class="step" data-rel-x="1500" data-rel-y="1500" data-scale="1">
+    <div id="contents" class="step" data-rel-x="0" data-rel-y="1500" data-scale="1"
+	 data-bookmark-key-list="w" >
         <h1>Choosing a treat</h1>
 
         <ul>
@@ -60,7 +81,8 @@
     <!-- Ice cream slides (3) -->
     <div id="icecream" class="step" data-x="2000" data-y="2000"
          data-goto-key-list="ArrowUp ArrowDown ArrowLeft ArrowRight"
-         data-goto-next-list="contents icecream-pro contents crisps">
+         data-goto-next-list="contents icecream-pro contents crisps"
+	 data-bookmark-key-list="7 u j" >
         <h1>Ice cream</h1>
 
         <ul>
@@ -73,7 +95,8 @@
 
     <div id="icecream-pro" class="step" data-rel-x="0" data-rel-y="1000"
          data-goto-key-list="ArrowUp ArrowDown ArrowLeft ArrowRight"
-         data-goto-next-list="icecream icecream-con applepie crisps-pro">
+         data-goto-next-list="icecream icecream-con applepie crisps-pro"
+	 data-bookmark-key-list="4 i j" >
         <h1>Ice cream: Pro's</h1>
 
         <ul>
@@ -85,7 +108,8 @@
 
     <div id="icecream-con" class="step" data-rel-x="0" data-rel-y="1000"
          data-goto-key-list="ArrowUp ArrowDown ArrowLeft ArrowRight"
-         data-goto-next-list="icecream-pro crisps applepie-pro crisps-con">
+         data-goto-next-list="icecream-pro crisps applepie-pro crisps-con"
+	 data-bookmark-key-list="1 o j" >
         <h1>Ice cream: Con's</h1>
 
         <ul>
@@ -99,7 +123,8 @@
     <!-- Crisps slides (3) -->
     <div id="crisps" class="step" data-x="3500" data-y="2000"
          data-goto-key-list="ArrowUp ArrowDown ArrowLeft ArrowRight"
-         data-goto-next-list="icecream-con crisps-pro icecream applepie">
+         data-goto-next-list="icecream-con crisps-pro icecream applepie"
+	 data-bookmark-key-list="8 u k" >
         <h1>Crisps</h1>
 
         <ul>
@@ -112,7 +137,8 @@
 
     <div id="crisps-pro" class="step" data-rel-x="0" data-rel-y="1000"
          data-goto-key-list="ArrowUp ArrowDown ArrowLeft ArrowRight"
-         data-goto-next-list="crisps crisps-con icecream-pro applepie-pro">
+         data-goto-next-list="crisps crisps-con icecream-pro applepie-pro"
+	 data-bookmark-key-list="5 i k" >
         <h1>Crisps: Pro's</h1>
 
         <ul>
@@ -127,7 +153,8 @@
 
     <div id="crisps-con" class="step" data-rel-x="0" data-rel-y="1000"
          data-goto-key-list="ArrowUp ArrowDown ArrowLeft ArrowRight"
-         data-goto-next-list="crisps-pro applepie icecream-con applepie-con">
+         data-goto-next-list="crisps-pro applepie icecream-con applepie-con"
+	 data-bookmark-key-list="2 o k" >
         <h1>Crisps: Con's</h1>
 
         <ul>
@@ -140,7 +167,8 @@
     <!-- Apple pie slides (3) -->
     <div id="applepie" class="step" data-x="5000" data-y="2000"
          data-goto-key-list="ArrowUp ArrowDown ArrowLeft ArrowRight"
-         data-goto-next-list="crisps-con applepie-pro crisps icecream-pro">
+         data-goto-next-list="crisps-con applepie-pro crisps icecream-pro"
+	 data-bookmark-key-list="9 u l" >
         <h1>Apple pie</h1>
 
         <ul>
@@ -152,7 +180,8 @@
 
     <div id="applepie-pro" class="step" data-rel-x="0" data-rel-y="1000"
          data-goto-key-list="ArrowUp ArrowDown ArrowLeft ArrowRight"
-         data-goto-next-list="applepie applepie-con crisps-pro icecream-con">
+         data-goto-next-list="applepie applepie-con crisps-pro icecream-con"
+	 data-bookmark-key-list="6 i l" >
         <h1>Apple pie: Pro's</h1>
 
         <ul>
@@ -165,7 +194,8 @@
 
     <div id="applepie-con" class="step" data-rel-x="0" data-rel-y="1000"
          data-goto-key-list="ArrowUp ArrowDown ArrowLeft ArrowRight"
-         data-goto-next-list="applepie-pro conclusion crisps-con conclusion">
+         data-goto-next-list="applepie-pro conclusion crisps-con conclusion"
+	 data-bookmark-key-list="3 o l" >
         <h1>Apple pie: Con's</h1>
 
         <ul>
@@ -175,7 +205,8 @@
     </div>
 
 
-    <div id="conclusion" class="step" data-rel-x="1000" data-rel-y="1000">
+    <div id="conclusion" class="step" data-rel-x="1000" data-rel-y="1000"
+	 data-bookmark-key-list="q" >
         <h1>Conclusion</h1>
 
         <p>Can I choose all three ;-)</p>
@@ -186,7 +217,8 @@
                         <a href="https://www.flickr.com/photos/stevepj2009/6296334551">stevepj2009@Flickr</a> </p>
     </div>
 
-    <div id="overview" class="step" data-x="3000" data-y="2000" data-scale="9" style="pointer-events: none;">
+    <div id="overview" class="step" data-x="3000" data-y="2000" data-scale="9" style="pointer-events: none;"
+	 data-bookmark-key-list="z [" >
     </div>
 </div>
 
diff --git a/js/impress.js b/js/impress.js
index 46cd7d1..3528ef2 100644
--- a/js/impress.js
+++ b/js/impress.js
@@ -8,7 +8,7 @@
  * in modern browsers and inspired by the idea behind prezi.com.
  *
  *
- * Copyright 2011-2012 Bartek Szopka (@bartaz), 2016-2023 Henrik Ingo (@henrikingo) 
+ * Copyright 2011-2012 Bartek Szopka (@bartaz), 2016-2023 Henrik Ingo (@henrikingo)
  * and 70+ other contributors
  *
  * Released under the MIT License.
@@ -4709,6 +4709,11 @@
                 currentSubstepOrder = el.dataset.substepOrder;
                 el.classList.add( "substep-visible" );
                 el.classList.add( "substep-active" );
+                if ( currentSubstepOrder === undefined ) {
+
+                    // Stop after one substep as default order
+                    break;
+                }
             }
 
             return el;
@@ -4741,6 +4746,7 @@
 
             // Continue if there is another substep with the same substepOrder
             if ( current > 0 &&
+                visible[ current ].dataset.substepOrder !== undefined &&
                 visible[ current - 1 ].dataset.substepOrder ===
                 visible[ current ].dataset.substepOrder ) {
                 visible.pop();
diff --git a/src/plugins/bookmark/README.md b/src/plugins/bookmark/README.md
new file mode 100644
index 0000000..116827b
--- /dev/null
+++ b/src/plugins/bookmark/README.md
@@ -0,0 +1,27 @@
+# Bookmark
+
+Nonlinear navigation similar to the Goto plugin.
+
+Goto supports nonlinear navigation by *locally* defining *out-links*, accessible via the arrow keys.
+
+Bookmark supports nonlinear navigation by *globally* defining *in-links*, accessible via normal keys like 1,2,3,A,B,C.
+
+Example:
+
+```html
+<!-- data-bookmark-key-list allows an "inbound"-oriented style of non-linear navigation. -->
+<div id="..." class="step" data-bookmark-key-list="Digit1 KeyA 1 2 3 a b c">
+```
+
+An `id` is required on the `div`.
+
+If you assign the same key to multiple steps, that hotkey will cycle among them.
+
+WARNING: It's up to you to avoid reserved hotkeys H, B, P, ?, etc.
+
+Author
+------
+
+Copyright 2023 Wong Meng Weng (@mengwong)
+Released under the MIT license.
+
diff --git a/src/plugins/bookmark/bookmark.js b/src/plugins/bookmark/bookmark.js
new file mode 100644
index 0000000..387f964
--- /dev/null
+++ b/src/plugins/bookmark/bookmark.js
@@ -0,0 +1,72 @@
+/**
+ * Bookmark Plugin
+ *
+ * The bookmark plugin consists of
+ *   a pre-init plugin,
+ *   a keyup listener, and
+ *   a pre-stepleave plugin.
+ *
+ * The pre-init plugin surveys all step divs to set up bookmark keybindings.
+ * The pre-stepleave plugin alters the destination when a bookmark hotkey is pressed.
+ *
+ * Example:
+ *
+ *       <!-- data-bookmark-key-list allows an "inbound" style of non-linear navigation. -->
+ *       <div id="..." class="step" data-bookmark-key-list="Digit1 KeyA 1 2 3 a b c">
+ *
+ * See https://developer.mozilla.org/en-US/docs/Web/API/KeyboardEvent/key/Key_Values for a table
+ * of what strings to use for each key. Both .key and .code styles are recognized.
+ *
+ * It's up to the HTML author to avoid reserved hotkeys H, B, P, ? etc.
+ *
+ * Copyright 2016-2017 Henrik Ingo (@henrikingo)
+ * Released under the MIT license.
+ */
+/* global document, impress */
+
+( function( document ) {
+    "use strict";
+    var hotkeys = {};
+    function hotkeyDest( event ) {
+	return ( hotkeys.hasOwnProperty( event.key )  ? hotkeys[ event.key ] :
+		 hotkeys.hasOwnProperty( event.code ) ? hotkeys[ event.code ] : null ); }
+
+    // In pre-init phase, build a map of bookmark hotkey to div id, by reviewing all steps
+    impress.addPreInitPlugin( function( root, api ) {
+	root.querySelectorAll( ".step" ).forEach( function( div ) {
+            if ( div.dataset.bookmarkKeyList !== undefined && div.id !== undefined ) {
+		div.dataset.bookmarkKeyList.split( " " ).forEach( ( k ) => {
+		    if ( hotkeys.hasOwnProperty( k ) ) {
+			hotkeys[ k ].push( div.id );
+		    } else { hotkeys[ k ] = [ div.id ]; } } ); } } );
+
+	api.lib.gc.addEventListener( document, "keyup", function( event ) {
+	    if ( hotkeyDest( event ) !== null ) {
+		event.stopImmediatePropagation();
+		api.next( event );
+
+		// Event.preventDefault();
+	    }
+	} );
+    } );
+
+    // In pre-stepleave phase, match a hotkey and reset destination accordingly.
+    impress.addPreStepLeavePlugin( function( event ) {
+
+	// Window.console.log(`bookmark: running as PreStepLeavePlugin; event=`);
+	// window.console.log(event)
+        if ( ( !event || !event.origEvent ) ) { return; }
+	var dest = hotkeyDest( event.origEvent );
+        if ( dest ) {
+
+	    // Window.console.log(`bookmark: recognizing hotkey ${event.code} goes to ${dest}`)
+            var newTarget = document.getElementById( dest[ 0 ] ); // jshint ignore:line
+            if ( newTarget ) {
+                event.detail.next = newTarget;
+		dest.push( dest.shift() ); // Repeated hotkey presses cycle through each dest.
+            }
+        }
+    } );
+
+} )( document );
+
diff --git a/src/plugins/substep/substep.js b/src/plugins/substep/substep.js
index d79253e..b94f618 100644
--- a/src/plugins/substep/substep.js
+++ b/src/plugins/substep/substep.js
@@ -104,6 +104,11 @@
                 currentSubstepOrder = el.dataset.substepOrder;
                 el.classList.add( "substep-visible" );
                 el.classList.add( "substep-active" );
+                if ( currentSubstepOrder === undefined ) {
+
+                    // Stop after one substep as default order
+                    break;
+                }
             }
 
             return el;
@@ -136,6 +141,7 @@
 
             // Continue if there is another substep with the same substepOrder
             if ( current > 0 &&
+                visible[ current ].dataset.substepOrder !== undefined &&
                 visible[ current - 1 ].dataset.substepOrder ===
                 visible[ current ].dataset.substepOrder ) {
                 visible.pop();