RethinkDB provides an official Node.js driver. You can install it with npm:
npm install rethinkdb
An alternative community supported Node.js driver is rethinkdbdash. The main difference with the official driver is the presence of a connection pool.
thinky by @neumino
JavaScript ORM for RethinkDB, using the same syntax as the driver.
JugglingDB-RethinkDB by @fuwaneko
A RethinkDB adapter for JugglingDB, a multi-database ORM for Node.js.
Osmos by @mtabini
A store-agnostic object data mapper for Node.js with support for RethinkDB.
You can find three guides to build a classic TODO application: