A high-resolution record of the atmospheric CO2 concentration from 60 to 20 thousand years before present (kyr BP) based on measurements on the ice core of Taylor Dome, Antarctica is presented. This record shows four distinct peaks of 20 parts per million by volume (ppmv) on a millennial time scale. Good correlation of the CO2 record with temperature reconstructions based on stable isotope measurements on the Vostok ice core (Antarctica) is found.