Diamond is a promising platform for quantum information processing as it can host highly coherent qubits that could allow for the construction of large quantum registers. A prerequisite for such devices is a coherent interaction between nitrogen vacancy (NV) electron spins. Entanglement between dipolar-coupled NV spin pairs has been demonstrated, but with a limited entanglement fidelity and its error sources have not been characterized. Here, we design and implement a robust, easy to implement entangling gate between NV spins in diamond and quantify the influence of multiple error sources on the gate performance. Experimentally, we demonstrate a record gate fidelity of $F=(96.0 \pm 2.5)$ % under ambient conditions. Our identification of the dominant errors paves the way towards NV-NV gates beyond the error correction threshold.
