We report the discovery of soft X-ray pulsations from the nearby millisecond pulsar PSR J1231$-$1411 using NICER. The pulsed emission is characterized by a broad and asymmetric main pulse and a much fainter secondary interpulse, with a total pulsed count rate of 0.055 c s$^{-1}$ in the 0.35-1.5 keV band. We analyzed Fermi LAT data to update the pulse timing model covering 10 years of data and used that model to coherently combine NICER data over a year of observations. Spectral modeling suggests that the flux is dominated by thermal emission from a hot spot (or spots) on the neutron star surface. The phase relationship between the X-ray pulse and the radio and $gamma$ rays provides insight into the geometry of the system.
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