diff --git a/drivers/i3c/i3c_npcm4xx.c b/drivers/i3c/i3c_npcm4xx.c
index 8f9ddb29dbfcef..c2ead24951912f 100644
--- a/drivers/i3c/i3c_npcm4xx.c
+++ b/drivers/i3c/i3c_npcm4xx.c
@@ -2603,6 +2603,19 @@ int i3c_npcm4xx_slave_send_sir(const struct device *dev, struct i3c_ibi_payload
 	return -ENOSYS;
 }
 
+int i3c_npcm4xx_slave_hj_req(const struct device *dev)
+{
+	struct i3c_npcm4xx_config *config = DEV_CFG(dev);
+	I3C_PORT_Enum port;
+
+	port = config->inst_id;
+	I3C_Slave_Insert_Task_HotJoin(port);
+
+	k_work_submit_to_queue(&npcm4xx_i3c_work_q[port], &work_send_ibi[port]);
+
+	return 0;
+}
+
 int i3c_npcm4xx_slave_get_dynamic_addr(const struct device *dev, uint8_t *dynamic_addr)
 {
 	struct i3c_npcm4xx_config *config = DEV_CFG(dev);
diff --git a/drivers/i3c/i3c_shell.c b/drivers/i3c/i3c_shell.c
index af6620a29b8fb2..32277c61f76e29 100644
--- a/drivers/i3c/i3c_shell.c
+++ b/drivers/i3c/i3c_shell.c
@@ -63,6 +63,19 @@ static uint32_t args_to_wdata(char *arg, uint8_t *buf)
 	return len;
 }
 
+static const char hj_req_helper[] = "i3c hj_req <dev>";
+static int cmd_hj_req(const struct shell *shell, size_t argc, char **argv)
+{
+	const struct device *dev;
+
+	dev = device_get_binding(argv[1]);
+	if (!dev) {
+		shell_error(shell, "I3C: Device %s not found.", argv[1]);
+		return -ENODEV;
+	}
+	return i3c_slave_hj_req(dev);
+}
+
 static const char priv_xfer_helper[] = "i3c xfer <dev> -a <addr> -w <wdata> -r <read length>";
 static int cmd_priv_xfer(const struct shell *shell, size_t argc, char **argv)
 {
@@ -660,6 +673,7 @@ SHELL_STATIC_SUBCMD_SET_CREATE(sub_i3c_cmds,
 	SHELL_CMD(ccc, &dsub_device_name, send_ccc_helper, cmd_send_ccc),
 	SHELL_CMD(entdaa, &dsub_device_name, entdaa_helper, cmd_entdaa),
 	SHELL_CMD(xfer, &dsub_device_name, priv_xfer_helper, cmd_priv_xfer),
+	SHELL_CMD(hj_req, &dsub_device_name, hj_req_helper, cmd_hj_req),
 #ifdef CONFIG_I3C_SLAVE_MQUEUE
 	SHELL_CMD(smq, &dsub_device_name, smq_xfer_helper, cmd_smq_xfer),
 	SHELL_CMD(stress, &dsub_device_name, do_stress_helper, cmd_do_stress),
diff --git a/include/drivers/i3c/i3c.h b/include/drivers/i3c/i3c.h
index 490dbb926cd7f8..a998424b5ea2c4 100644
--- a/include/drivers/i3c/i3c.h
+++ b/include/drivers/i3c/i3c.h
@@ -210,6 +210,14 @@ int i3c_npcm4xx_slave_get_event_enabling(const struct device *dev, uint32_t *eve
 int i3c_aspeed_slave_send_sir(const struct device *dev, struct i3c_ibi_payload *payload);
 int i3c_npcm4xx_slave_send_sir(const struct device *dev, struct i3c_ibi_payload *payload);
 
+/**
+ * @brief slave device sends Hot-join request
+ *
+ * @param dev the I3C controller in slave mode
+ * @return int 0 = success
+ */
+int i3c_npcm4xx_slave_hj_req(const struct device *dev);
+
 /**
  * @brief set the static address of the i3c controller in slave mode
  * @param dev the I3C controller in slave mode
@@ -284,6 +292,7 @@ int i3c_master_send_getbcr(const struct device *master, uint8_t addr, uint8_t *b
 #define i3c_slave_register		i3c_npcm4xx_slave_register
 #define i3c_slave_set_static_addr	i3c_npcm4xx_slave_set_static_addr
 #define i3c_slave_send_sir		i3c_npcm4xx_slave_send_sir
+#define i3c_slave_hj_req		i3c_npcm4xx_slave_hj_req
 #define i3c_slave_put_read_data		i3c_npcm4xx_slave_put_read_data
 #define i3c_slave_get_dynamic_addr	i3c_npcm4xx_slave_get_dynamic_addr
 #define i3c_slave_get_event_enabling	i3c_npcm4xx_slave_get_event_enabling