Are there set positions, rotation or substitutions in beach volleyball?

Under the FIVB Official Beach Volleyball Rules 2025-2028:

• Both players of each team must always be in play, and there are no substitutions.
• The players are free to position themselves: there are no determined positions on the court and no positional order faults. At the moment the server hits the ball, each team must be within its own court (except the server).
• Only the service order is controlled. The captain sets it straight after the toss, and it must be kept throughout the set. When the receiving team gains the right to serve, its players "rotate" one position.
• A service order fault costs the team a point and service to the opponent.