diff --git a/docs/nodes/quaternion/quaternion_index.rst b/docs/nodes/quaternion/quaternion_index.rst
index 7a55fce4c272dbdb2b196d25270c7798061612fd..7edd798ca9b8e7a4300dbfe1f0301d70a2f4beaf 100644
--- a/docs/nodes/quaternion/quaternion_index.rst
+++ b/docs/nodes/quaternion/quaternion_index.rst
@@ -8,3 +8,4 @@ Quaternion
    quaternion_in
    quaternion_out
    quaternion_math
+   rotation_difference
diff --git a/docs/nodes/quaternion/rotation_difference.rst b/docs/nodes/quaternion/rotation_difference.rst
new file mode 100644
index 0000000000000000000000000000000000000000..46be13d934ffdd3289ceba456e6633b01f2b2298
--- /dev/null
+++ b/docs/nodes/quaternion/rotation_difference.rst
@@ -0,0 +1,49 @@
+Rotation difference
+===================
+
+.. image:: https://user-images.githubusercontent.com/28003269/72435157-ded07380-37b6-11ea-9ec3-7f8e0b20afda.png
+
+Functionality
+-------------
+
+Creates quaternion which produce rotation from first to second given points.
+It can be alternative of `normal matrix` node. Meanwhile last one can work only with limited number of axis 
+the `rotation difference` node can work with arbitrary axises.
+
+Category
+--------
+
+Quaternions -> Rotation difference
+
+Inputs
+------
+
+- **Verts_A** - vertices (start of rotation)
+- **Verts_B** - vertices (end of rotation)
+
+Outputs
+-------
+
+- **Quaternions** - rotation difference between given points
+
+Parameters
+----------
+
++--------------------------+-------+--------------------------------------------------------------------------------+
+| Parameters               | Type  | Description                                                                    |
++==========================+=======+================================================================================+
+| Flat output              | bool  | Put all quaternions into flat list                                             |
++--------------------------+-------+--------------------------------------------------------------------------------+
+
+Usage
+-----
+
+First vector of the node is initial direction of monkey head, second one is direction of empty object:
+
+.. image:: https://user-images.githubusercontent.com/28003269/72435614-ecd2c400-37b7-11ea-80f2-176a0d1df5ee.png
+.. image:: https://user-images.githubusercontent.com/28003269/72435623-f52aff00-37b7-11ea-984a-e0d0d4b14013.gif
+
+Also it is possible to make movements of monkey head more natural by applying Z component separately:
+
+.. image:: https://user-images.githubusercontent.com/28003269/72444577-b7cf6d00-37c9-11ea-8052-0be2fa3de938.png
+.. image:: https://user-images.githubusercontent.com/28003269/72444896-43e19480-37ca-11ea-87c8-326b5c63e6b5.gif
\ No newline at end of file
diff --git a/index.md b/index.md
index 9eb2c783d89b3d59d2dd474c108e7faf8a466324..f45d89f1d771f0b61c28cf469a4c6d4ef661e693 100644
--- a/index.md
+++ b/index.md
@@ -278,6 +278,7 @@
     SvQuaternionInNode
     SvQuaternionOutNode
     SvQuaternionMathNode
+    SvRotationDifference
 
 ## Logic
     SvLogicNode
diff --git a/nodes/quaternion/rotation_difference.py b/nodes/quaternion/rotation_difference.py
new file mode 100644
index 0000000000000000000000000000000000000000..ff7e529852d2765a660e5411712416f88415a732
--- /dev/null
+++ b/nodes/quaternion/rotation_difference.py
@@ -0,0 +1,69 @@
+# This file is part of project Sverchok. It's copyrighted by the contributors
+# recorded in the version control history of the file, available from
+# its original location https://github.com/nortikin/sverchok/commit/master
+#
+# SPDX-License-Identifier: GPL3
+# License-Filename: LICENSE
+
+
+from itertools import chain, cycle
+
+import bpy
+from mathutils import Vector
+
+from sverchok.node_tree import SverchCustomTreeNode
+from sverchok.data_structure import updateNode
+
+
+def get_quaternion(verts_a, verts_b):
+    """
+    returns quaternion which represent rotation from vertices A to vertices B
+    :param verts_a: list of tuple(float, float, float)
+    :param verts_b: list of tuple(float, float, float)
+    :return: list of quaternions
+    """
+    max_len = max([len(verts_a), len(verts_b)])
+    verts_a = iter_last(verts_a)
+    verts_b = iter_last(verts_b)
+    return [Vector(va).rotation_difference(vb) for i, va, vb in zip(range(max_len), verts_a, verts_b)]
+
+
+def iter_last(l):
+    return chain(l, cycle([l[-1]]))
+
+
+class SvRotationDifference(bpy.types.Node, SverchCustomTreeNode):
+    """
+    Triggers: Quaternion
+
+    creates quaternion which represent rotation from vertices A to vertices B
+    """
+    bl_idname = 'SvRotationDifference'
+    bl_label = 'Rotation difference'
+    bl_icon = 'TRACKING_REFINE_BACKWARDS'
+
+    vec1: bpy.props.FloatVectorProperty(default=(1, 0, 0), update=updateNode)
+    vec2: bpy.props.FloatVectorProperty(default=(0, 1, 0), update=updateNode)
+    is_flatten: bpy.props.BoolProperty(name="Flat output", update=updateNode, default=True)
+
+    def draw_buttons_ext(self, context, layout):
+        layout.prop(self, 'is_flatten')
+
+    def sv_init(self, context):
+        self.inputs.new('SvVerticesSocket', 'Verts_A').prop_name = 'vec1'
+        self.inputs.new('SvVerticesSocket', "Verts_B").prop_name = 'vec2'
+        self.outputs.new('SvQuaternionSocket', 'Quaternions')
+
+    def process(self):
+        max_len = max([len(sock.sv_get(deepcopy=False)) for sock in self.inputs])
+        inputs = [iter_last(sock.sv_get(default=False)) for sock in self.inputs]
+        out = [get_quaternion(v1, v2) for i, v1, v2 in zip(range(max_len), *inputs)]
+        self.outputs['Quaternions'].sv_set([q for l in out for q in l] if self.is_flatten else out)
+
+
+def register():
+    bpy.utils.register_class(SvRotationDifference)
+
+
+def unregister():
+    bpy.utils.unregister_class(SvRotationDifference)