--- header.html.orig	2022-04-13 15:16:12.583092808 -0700
+++ header.html.new	2022-04-13 15:29:17.385355977 -0700
@@ -20,6 +20,46 @@
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
 
+<header class="site-header">
+ <div class="site-header-inner contain">
+  <a class="drake-logo" href="/"><img src="/images/drake-logo-white.svg"></a>
+  <div class="menu-mobile-toggle">
+   <span></span>
+  </div>
+  <nav class="site-menu">
+   <ul>
+    <li class="site-menu-item site-menu-item-main">
+     <a class="site-menu-item" href="/">Home</a>
+    </li>
+    <li class="site-menu-item site-menu-item-main">
+     <a class="site-menu-item" href="/installation.html">Installation</a>
+    </li>
+    <li class="site-menu-item site-menu-item-main">
+     <a class="site-menu-item" href="/gallery.html">Gallery</a>
+    </li>
+    <li class="site-menu-item site-menu-item-main">API Documentation
+     <div class="sub">
+      <a class="site-menu-item" href="/doxygen_cxx/index.html">C++</a>
+      <a class="site-menu-item" href="/pydrake/index.html">Python</a>
+     </div>
+    </li>
+    <li class="site-menu-item site-menu-item-main">Resources
+     <div class="sub">
+      <a class="site-menu-item" href="/getting_help.html">Getting Help</a>
+      <a class="site-menu-item" href="https://deepnote.com/workspace/Drake-0b3b2c53-a7ad-441b-80f8-bf8350752305/project/Tutorials-2b4fc509-aef2-417d-a40d-6071dfed9199/%2Findex.ipynb">Tutorials</a>
+      <a class="site-menu-item" href="/python_bindings.html">Python Bindings</a>
+      <a class="site-menu-item" href="/developers.html">For Developers</a>
+      <a class="site-menu-item" href="/credits.html">Credits</a>
+     </div>
+    </li>
+    <li class="github-link">
+     <a class="site-menu-item" href="https://github.com/RobotLocomotion/drake">GitHub <img src="/third_party/images/GitHub-Mark-Light-64px.png"></a>
+    </li>
+   </ul>
+  </nav>
+ </div>
+</header>
+
 <!--BEGIN TITLEAREA-->
 <div id="titlearea">
 <table cellspacing="0" cellpadding="0">
@@ -44,13 +84,30 @@
    <!--END PROJECT_BRIEF-->
   <!--END !PROJECT_NAME-->
   <!--BEGIN DISABLE_INDEX-->
-   <!--BEGIN SEARCHENGINE-->
-   <td>$searchbox</td>
-   <!--END SEARCHENGINE-->
   <!--END DISABLE_INDEX-->
  </tr>
  </tbody>
 </table>
+<div class="title-banner">
+ <div class="title-banner__title">
+  Drake C++ Documentation
+ </div>
+ <div id="DDGSearch">
+  <form id="search_form_cpp" class="wy_form" action="https://google.com/search" method="get">
+   <input type="text" name="q" placeholder="Search C++ API only…">
+   <input type="hidden" name="q" value="site:drake.mit.edu/doxygen_cxx">
+  </form>
+  <form id="search_form" class="wy_form" action="https://google.com/search" method="get">
+   <input type="text" name="q" placeholder="Search all of Drake…">
+   <input type="hidden" name="q" value="site:drake.mit.edu OR site:underactuated.csail.mit.edu OR site:manipulation.csail.mit.edu">
+  </form>
+ </div>
+ <!--BEGIN SEARCHENGINE-->
+ <div id="MSearchBoxContainer">
+  $searchbox
+ </div>
+ <!--END SEARCHENGINE-->
+</div>
 </div>
 <!--END TITLEAREA-->
 <!-- end header part -->
