The mileage reimbursement invoice is for any employee or contractor that is able to be reimbursed for the distance driven for business, charity, or medical purposes. It is important that the driver or passenger note the odometer prior to leaving and once they’ve completed their journey. The number can then be multiplied by the IRS mileage rate the find the amount owed. That amount can be indicated on the invoice along with any additional information the company or individual compensating the driver may require.