diff --git a/docs/Makefile b/docs/Makefile
index 387195a2a..1aaf1cf7e 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -36,8 +36,7 @@ help:
 clean:
 	-rm -rf $(BUILDDIR)/*
 
-html:
-	./update_usage.sh
+html: usage
 	$(SPHINXBUILD) -b html $(ALLSPHINXOPTS) $(BUILDDIR)/html
 	@echo
 	@echo "Build finished. The HTML pages are in $(BUILDDIR)/html."
@@ -140,3 +139,16 @@ gh-io: html
 
 inotify: html
 	while inotifywait -r . --exclude usage.rst --exclude '_build/*' ; do make html ; done
+
+# generate list of targets
+usage: $(shell borg help | grep -A1 "Available commands:" | tail -1 | sed 's/[{} ]//g;s/,\|^/.rst.inc usage\//g;s/^.rst.inc//;s/usage\/help//')
+
+# generate help file based on usage
+usage/%.rst.inc: ../borg/archiver.py
+	printf ".. _borg_$*:\n\n" > $@
+	printf "borg $*\n" >> $@
+	echo -n borg $* | tr 'a-z- ' '-' >> $@
+	printf "\n::\n\n" >> $@
+	borg help $* --usage-only | sed -e 's/^/    /' >> $@
+	printf "\nDescription\n~~~~~~~~~~~\n" >> $@
+	borg help $* --epilog-only >> $@
diff --git a/docs/update_usage.sh b/docs/update_usage.sh
deleted file mode 100755
index 9e79f4e88..000000000
--- a/docs/update_usage.sh
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/bin/bash
-if [ ! -d usage ]; then
-  mkdir usage
-fi
-for cmd in change-passphrase check create delete extract info init list mount prune serve; do
-  FILENAME="usage/$cmd.rst.inc"
-  LINE=`echo -n borg $cmd | tr 'a-z- ' '-'`
-  echo -e ".. _borg_$cmd:\n" > $FILENAME
-  echo -e "borg $cmd\n$LINE\n::\n\n" >> $FILENAME
-  borg help $cmd --usage-only | sed -e 's/^/    /' >> $FILENAME
-  echo -e "\nDescription\n~~~~~~~~~~~\n" >> $FILENAME
-  borg help $cmd --epilog-only >> $FILENAME
-done