diff --git a/onert-micro/luci-interpreter/include/luci_interpreter/test_models/gather_nd/FloatGatherNDKernel.h b/onert-micro/luci-interpreter/include/luci_interpreter/test_models/gather_nd/FloatGatherNDKernel.h
new file mode 100644
index 00000000000..4a789c76c98
--- /dev/null
+++ b/onert-micro/luci-interpreter/include/luci_interpreter/test_models/gather_nd/FloatGatherNDKernel.h
@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2023 Samsung Electronics Co., Ltd. All Rights Reserved
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef LUCI_INTERPRETER_TEST_MODELS_FLOAT_GATHER_ND_KERNEL_H
+#define LUCI_INTERPRETER_TEST_MODELS_FLOAT_GATHER_ND_KERNEL_H
+
+#include "TestDataGatherNDBase.h"
+
+namespace luci_interpreter
+{
+namespace test_kernel
+{
+namespace gather_nd_float
+{
+/*
+ * GatherND Kernel:
+ *
+ *      Input(1, 4, 4, 3)
+ *            |
+ *           GatherND
+ *            |
+ *      Output(1, 2, 4, 4, 3)
+ */
+const unsigned char test_kernel_model_circle[] = {
+  0x18, 0x00, 0x00, 0x00, 0x43, 0x49, 0x52, 0x30, 0x00, 0x00, 0x0e, 0x00, 0x14, 0x00, 0x00, 0x00,
+  0x0c, 0x00, 0x08, 0x00, 0x10, 0x00, 0x04, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
+  0x50, 0x00, 0x00, 0x00, 0x84, 0x01, 0x00, 0x00, 0xa0, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x3c, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, 0x2c, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x06, 0x00, 0x08, 0x00, 0x04, 0x00, 0x06, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x8c, 0xff, 0xff, 0xff, 0x90, 0xff, 0xff, 0xff, 0x94, 0xff, 0xff, 0xff,
+  0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x18, 0x00, 0x14, 0x00,
+  0x10, 0x00, 0x0c, 0x00, 0x08, 0x00, 0x04, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
+  0x1c, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x68, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0x6d, 0x61, 0x69, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x14, 0x00, 0x00, 0x00, 0x10, 0x00, 0x0c, 0x00,
+  0x07, 0x00, 0x08, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x10, 0x00, 0x00, 0x00,
+  0x10, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x74, 0x00, 0x00, 0x00, 0x38, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0xa4, 0xff, 0xff, 0xff, 0x0c, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
+  0x0c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6f, 0x66, 0x6d, 0x00, 0x02, 0x00, 0x00, 0x00,
+  0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x14, 0x00, 0x10, 0x00, 0x0f, 0x00,
+  0x08, 0x00, 0x04, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00, 0x69, 0x6e, 0x64, 0x69,
+  0x63, 0x65, 0x73, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
+  0x0c, 0x00, 0x10, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x08, 0x00, 0x04, 0x00, 0x0c, 0x00, 0x00, 0x00,
+  0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00,
+  0x70, 0x61, 0x72, 0x61, 0x6d, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
+  0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
+  0x0c, 0x00, 0x0c, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x0c, 0x00, 0x00, 0x00,
+  0x6b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6b, 0x11, 0x00, 0x00, 0x00, 0x4f, 0x4e, 0x45, 0x2d,
+  0x74, 0x66, 0x6c, 0x69, 0x74, 0x65, 0x32, 0x63, 0x69, 0x72, 0x63, 0x6c, 0x65, 0x00, 0x00, 0x00};
+
+const std::vector<float> input_data = {-63.555645, 32.902435,  -61.76536, 28.280264,
+                                       66.80893,   -13.163652, -66.06793, -15.827837};
+const std::vector<float> reference_output_data = {-61.76536, 28.280264, 66.80893, -13.163652};
+
+} // namespace gather_nd_float
+
+class TestDataFloatGatherND : public TestDataGatherNDBase<float>
+{
+public:
+  TestDataFloatGatherND()
+  {
+    _input_data = gather_nd_float::input_data;
+    _reference_output_data = gather_nd_float::reference_output_data;
+    _test_kernel_model_circle = gather_nd_float::test_kernel_model_circle;
+  }
+
+  ~TestDataFloatGatherND() override = default;
+};
+
+} // namespace test_kernel
+} // namespace luci_interpreter
+
+#endif // LUCI_INTERPRETER_TEST_MODELS_FLOAT_GATHER_ND_KERNEL_H
diff --git a/onert-micro/luci-interpreter/include/luci_interpreter/test_models/gather_nd/NegGatherNDKernel.h b/onert-micro/luci-interpreter/include/luci_interpreter/test_models/gather_nd/NegGatherNDKernel.h
new file mode 100644
index 00000000000..71cba6bb877
--- /dev/null
+++ b/onert-micro/luci-interpreter/include/luci_interpreter/test_models/gather_nd/NegGatherNDKernel.h
@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2023 Samsung Electronics Co., Ltd. All Rights Reserved
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef LUCI_INTERPRETER_TEST_MODELS_NEG_GATHER_KERNEL_H
+#define LUCI_INTERPRETER_TEST_MODELS_NEG_GATHER_KERNEL_H
+
+#include "TestDataGatherNDBase.h"
+
+namespace luci_interpreter
+{
+namespace test_kernel
+{
+namespace neg_gather_nd_mismatch_input_output_type
+{
+/*
+ * GatherND Kernel with input output type mismatch (should be equal):
+ *
+ * Input(1, 4, 4, 3) - FLOAT32   Indices(1, 2, 1)
+ *       \                 /
+ *           GatherND
+ *                 |
+ *          Output(1, 2, 2, 4) - INT32
+ */
+const unsigned char test_kernel_model_circle[] = {
+  0x18, 0x00, 0x00, 0x00, 0x43, 0x49, 0x52, 0x30, 0x00, 0x00, 0x0e, 0x00, 0x14, 0x00, 0x00, 0x00,
+  0x0c, 0x00, 0x08, 0x00, 0x10, 0x00, 0x04, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
+  0x50, 0x00, 0x00, 0x00, 0x88, 0x01, 0x00, 0x00, 0xa4, 0x01, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x3c, 0x00, 0x00, 0x00, 0x34, 0x00, 0x00, 0x00, 0x2c, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x06, 0x00, 0x08, 0x00, 0x04, 0x00, 0x06, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x8c, 0xff, 0xff, 0xff, 0x90, 0xff, 0xff, 0xff, 0x94, 0xff, 0xff, 0xff,
+  0x01, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x18, 0x00, 0x14, 0x00,
+  0x10, 0x00, 0x0c, 0x00, 0x08, 0x00, 0x04, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
+  0x1c, 0x00, 0x00, 0x00, 0x60, 0x00, 0x00, 0x00, 0x64, 0x00, 0x00, 0x00, 0x68, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0x6d, 0x61, 0x69, 0x6e, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x14, 0x00, 0x00, 0x00, 0x00, 0x00, 0x0e, 0x00, 0x14, 0x00, 0x00, 0x00, 0x10, 0x00, 0x0c, 0x00,
+  0x07, 0x00, 0x08, 0x00, 0x0e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x10, 0x00, 0x00, 0x00,
+  0x10, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0x04, 0x00, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00,
+  0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+  0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x78, 0x00, 0x00, 0x00, 0x3c, 0x00, 0x00, 0x00,
+  0x04, 0x00, 0x00, 0x00, 0xd8, 0xff, 0xff, 0xff, 0x10, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
+  0x00, 0x00, 0x00, 0x02, 0x0c, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x6f, 0x66, 0x6d, 0x00,
+  0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x14, 0x00,
+  0x10, 0x00, 0x0f, 0x00, 0x08, 0x00, 0x04, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
+  0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x10, 0x00, 0x00, 0x00, 0x07, 0x00, 0x00, 0x00,
+  0x69, 0x6e, 0x64, 0x69, 0x63, 0x65, 0x73, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
+  0x02, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x10, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x08, 0x00, 0x04, 0x00,
+  0x0c, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x10, 0x00, 0x00, 0x00,
+  0x05, 0x00, 0x00, 0x00, 0x70, 0x61, 0x72, 0x61, 0x6d, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00,
+  0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+  0x10, 0x00, 0x00, 0x00, 0x0c, 0x00, 0x0c, 0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x04, 0x00,
+  0x0c, 0x00, 0x00, 0x00, 0x6b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6b, 0x11, 0x00, 0x00, 0x00,
+  0x4f, 0x4e, 0x45, 0x2d, 0x74, 0x66, 0x6c, 0x69, 0x74, 0x65, 0x32, 0x63, 0x69, 0x72, 0x63, 0x6c,
+  0x65, 0x00, 0x00, 0x00};
+
+} // namespace neg_gather_nd_mismatch_input_output_type
+
+class NegTestDataInputOutputTypeMismatchGatherNDKernel : public NegTestDataBase
+{
+public:
+  NegTestDataInputOutputTypeMismatchGatherNDKernel()
+  {
+    _test_kernel_model_circle = neg_gather_nd_mismatch_input_output_type::test_kernel_model_circle;
+  }
+
+  ~NegTestDataInputOutputTypeMismatchGatherNDKernel() override = default;
+
+  const unsigned char *get_model_ptr() override final { return _test_kernel_model_circle; }
+
+protected:
+  const unsigned char *_test_kernel_model_circle;
+};
+
+} // namespace test_kernel
+} // namespace luci_interpreter
+
+#endif // LUCI_INTERPRETER_TEST_MODELS_NEG_GATHER_ND_KERNEL_H
diff --git a/onert-micro/luci-interpreter/include/luci_interpreter/test_models/gather_nd/TestDataGatherNDBase.h b/onert-micro/luci-interpreter/include/luci_interpreter/test_models/gather_nd/TestDataGatherNDBase.h
new file mode 100644
index 00000000000..a9485ad2c8d
--- /dev/null
+++ b/onert-micro/luci-interpreter/include/luci_interpreter/test_models/gather_nd/TestDataGatherNDBase.h
@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2023 Samsung Electronics Co., Ltd. All Rights Reserved
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef LUCI_INTERPRETER_TEST_MODELS_GATHER_ND_KERNEL_BASE_H
+#define LUCI_INTERPRETER_TEST_MODELS_GATHER_ND_KERNEL_BASE_H
+
+#include "luci_interpreter/test_models/TestDataBase.h"
+
+namespace luci_interpreter
+{
+namespace test_kernel
+{
+
+template <typename T> class TestDataGatherNDBase : public TestDataBase<T>
+{
+public:
+  TestDataGatherNDBase() = default;
+
+  const unsigned char *get_model_ptr() override final { return _test_kernel_model_circle; }
+
+  const std::vector<T> &get_input_data_by_index(int i) override final
+  {
+    switch (i)
+    {
+      case 0:
+        return _input_data;
+      default:
+        assert(false && "Wrong input index");
+    }
+  }
+
+  const std::vector<T> &get_output_data_by_index(int i) override final
+  {
+    assert(i == 0);
+    return _reference_output_data;
+  }
+
+protected:
+  std::vector<T> _input_data;
+  std::vector<T> _reference_output_data;
+  const unsigned char *_test_kernel_model_circle;
+};
+
+} // namespace test_kernel
+} // namespace luci_interpreter
+
+#endif // LUCI_INTERPRETER_TEST_MODELS_GATHER_ND_KERNEL_BASE_H
diff --git a/onert-micro/luci-interpreter/pal/cmsisnn/KernelsToBuild.lst b/onert-micro/luci-interpreter/pal/cmsisnn/KernelsToBuild.lst
index e92ce5e85f1..c02895a35ba 100644
--- a/onert-micro/luci-interpreter/pal/cmsisnn/KernelsToBuild.lst
+++ b/onert-micro/luci-interpreter/pal/cmsisnn/KernelsToBuild.lst
@@ -15,6 +15,7 @@ REGISTER_KERNEL(CONV_2D, Conv2D)
 REGISTER_KERNEL(LOGISTIC, Logistic)
 REGISTER_KERNEL(LOG, Log)
 REGISTER_KERNEL(GATHER, Gather)
+REGISTER_KERNEL(GATHER_ND, GatherND)
 REGISTER_KERNEL(EXP, Exp)
 REGISTER_KERNEL(FULLY_CONNECTED, FullyConnected)
 REGISTER_KERNEL(GREATER, Greater)
diff --git a/onert-micro/luci-interpreter/pal/common/PALGatherND.h b/onert-micro/luci-interpreter/pal/common/PALGatherND.h
new file mode 100644
index 00000000000..63aced347c9
--- /dev/null
+++ b/onert-micro/luci-interpreter/pal/common/PALGatherND.h
@@ -0,0 +1,83 @@
+/*
+ * Copyright (c) 2023 Samsung Electronics Co., Ltd. All Rights Reserved
+ * Copyright 2020 The TensorFlow Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef LUCI_INTERPRETER_PAL_GATHER_ND_COMMON_H
+#define LUCI_INTERPRETER_PAL_GATHER_ND_COMMON_H
+
+#include "PALUtils.h"
+#include <cmath>
+
+namespace luci_interpreter_pal
+{
+
+constexpr int MAX_INDICES_ND = 5;
+
+template <typename ParamsT, typename IndicesT>
+inline void GatherND(luci_interpreter::RuntimeShape params_shape, const ParamsT *param_data,
+                     luci_interpreter::RuntimeShape indices_shape, const IndicesT *index_data,
+                     ParamsT *output_data)
+{
+  const int indices_dims = indices_shape.dimensionsCount();
+  const int indices_nd = indices_shape.dims(indices_dims - 1);
+  const int params_dims = params_shape.dimensionsCount();
+
+  int n_slices = 1;
+  for (int i = 0; i < indices_dims - 1; ++i)
+  {
+    n_slices *= indices_shape.dims(i);
+  }
+
+  // If indices[-1] == params.rank, fetch single elements.
+  // If indices[-1] < params.rank, fetch slices.
+  int slice_size = 1;
+  for (int i = indices_nd; i < params_dims; ++i)
+  {
+    slice_size *= params_shape.dims(i);
+  }
+
+  int params_flat_size = params_shape.flatSize();
+  int remain_flat_size = params_flat_size;
+
+  // Number of elements per dimension
+  int dims_to_count[MAX_INDICES_ND];
+  for (int i = 0; i < indices_nd; ++i)
+  {
+    dims_to_count[i] = remain_flat_size / params_shape.dims(i);
+    remain_flat_size = dims_to_count[i];
+  }
+
+  for (int i = 0; i < n_slices; ++i)
+  {
+    int from_pos = 0;
+    for (int j = 0; j < indices_nd; ++j)
+    {
+      int offset = i * indices_nd + j;
+      IndicesT index = index_data[offset];
+      from_pos += index * dims_to_count[j];
+    }
+    if (from_pos < 0 || from_pos + slice_size > params_flat_size)
+    {
+      assert(false && "GatherND error");
+      return;
+    }
+    std::memcpy(output_data + i * slice_size, param_data + from_pos, sizeof(ParamsT) * slice_size);
+  }
+}
+
+} // namespace luci_interpreter_pal
+
+#endif // LUCI_INTERPRETER_PAL_GATHER_ND_COMMON_H
diff --git a/onert-micro/luci-interpreter/pal/mcu/KernelsToBuild.lst b/onert-micro/luci-interpreter/pal/mcu/KernelsToBuild.lst
index 04e28bb89c4..bd4d2a8b854 100644
--- a/onert-micro/luci-interpreter/pal/mcu/KernelsToBuild.lst
+++ b/onert-micro/luci-interpreter/pal/mcu/KernelsToBuild.lst
@@ -17,6 +17,7 @@ REGISTER_KERNEL(CONV_2D, Conv2D)
 REGISTER_KERNEL(LOGISTIC, Logistic)
 REGISTER_KERNEL(LOG, Log)
 REGISTER_KERNEL(GATHER, Gather)
+REGISTER_KERNEL(GATHER_ND, GatherND)
 REGISTER_KERNEL(EXP, Exp)
 REGISTER_KERNEL(GREATER, Greater)
 REGISTER_KERNEL(GREATER_EQUAL, GreaterEqual)
diff --git a/onert-micro/luci-interpreter/src/kernels/GatherND.cpp b/onert-micro/luci-interpreter/src/kernels/GatherND.cpp
new file mode 100644
index 00000000000..c9c41393490
--- /dev/null
+++ b/onert-micro/luci-interpreter/src/kernels/GatherND.cpp
@@ -0,0 +1,70 @@
+/*
+ * Copyright (c) 2022 Samsung Electronics Co., Ltd. All Rights Reserved
+ * Copyright 2021 The TensorFlow Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "Builders.h"
+#include "kernels/Utils.h"
+#include "TISOKernel.h"
+#include "PALGatherND.h"
+
+#include <cassert>
+
+namespace luci_interpreter
+{
+
+void configure_kernel_CircleGatherND(const circle::Operator *cur_op,
+                                     BaseRuntimeGraph *runtime_graph)
+{
+  kernels::TISOKernel kernel(cur_op, runtime_graph);
+
+  LUCI_INTERPRETER_CHECK(Tensor::element_type(kernel.input2()) == DataType::S32);
+  LUCI_INTERPRETER_CHECK(Tensor::element_type(kernel.input1()) ==
+                         Tensor::element_type(kernel.output()));
+
+  const int params_rank = Tensor::num_dims(kernel.input1());
+  const int indices_rank = Tensor::num_dims(kernel.input2());
+  const int indices_nd = Tensor::dim(kernel.input2(), indices_rank - 1);
+
+  LUCI_INTERPRETER_CHECK(params_rank >= 1);
+  LUCI_INTERPRETER_CHECK(indices_rank >= 1);
+  LUCI_INTERPRETER_CHECK(indices_nd <= params_rank);
+  LUCI_INTERPRETER_CHECK(indices_nd <= luci_interpreter_pal::MAX_INDICES_ND);
+}
+
+void execute_kernel_CircleGatherND(const circle::Operator *cur_op, BaseRuntimeGraph *runtime_graph)
+{
+  kernels::TISOKernel kernel(cur_op, runtime_graph);
+
+  const uint8_t *params_data = runtime_graph->getDataByTensor(kernel.input1());
+  const uint8_t *indies_data = runtime_graph->getConstDataByTensor(kernel.input2());
+  uint8_t *output_data = runtime_graph->getDataByTensor(kernel.output());
+
+  switch (Tensor::element_type(kernel.input1()))
+  {
+#ifndef DIS_FLOAT
+    case DataType::FLOAT32:
+      return luci_interpreter_pal::GatherND<float, int32_t>(
+        kernels::getTensorRuntimeShape(kernel.input1(), runtime_graph),
+        kernels::getTensorData<float>(params_data),
+        kernels::getTensorRuntimeShape(kernel.input2(), runtime_graph),
+        kernels::getTensorData<int32_t>(indies_data), kernels::getTensorData<float>(output_data));
+#endif // DIS_FLOAT
+    default:
+      assert(false && "Unsupported type");
+  }
+}
+
+} // namespace luci_interpreter
diff --git a/onert-micro/luci-interpreter/src/kernels/GatherND.test.cpp b/onert-micro/luci-interpreter/src/kernels/GatherND.test.cpp
new file mode 100644
index 00000000000..27080c0b251
--- /dev/null
+++ b/onert-micro/luci-interpreter/src/kernels/GatherND.test.cpp
@@ -0,0 +1,88 @@
+/*
+ * Copyright (c) 2022 Samsung Electronics Co., Ltd. All Rights Reserved
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *    http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "kernels/TestUtils.h"
+#include "luci_interpreter/test_models/gather_nd/FloatGatherNDKernel.h"
+#include "luci_interpreter/test_models/gather_nd/NegGatherNDKernel.h"
+
+#include "loader/ModuleLoader.h"
+
+namespace luci_interpreter
+{
+namespace
+{
+
+using namespace testing;
+
+class GatherNDTest : public ::testing::Test
+{
+  // Do nothing
+};
+
+template <typename T>
+std::vector<T> checkGatherNDKernel(test_kernel::TestDataBase<T> *test_data_base)
+{
+  MemoryManager memory_manager{};
+  RuntimeModule runtime_module{};
+  bool dealloc_input = true;
+
+  // Load model with single op
+  auto *model_data_raw = reinterpret_cast<const char *>(test_data_base->get_model_ptr());
+  ModuleLoader::load(&runtime_module, &memory_manager, model_data_raw, dealloc_input);
+
+  auto *main_runtime_graph = runtime_module.getMainGraph();
+  assert(main_runtime_graph->getNumOfInputTensors() == 1);
+
+  // Set input data
+  {
+    auto *input_tensor_data = reinterpret_cast<T *>(main_runtime_graph->configureGraphInput(0));
+    std::copy(test_data_base->get_input_data_by_index(0).begin(),
+              test_data_base->get_input_data_by_index(0).end(), input_tensor_data);
+  }
+
+  runtime_module.execute();
+
+  assert(main_runtime_graph->getNumOfOutputTensors() == 1);
+
+  T *output_data = reinterpret_cast<T *>(main_runtime_graph->getOutputDataByIndex(0));
+  const size_t num_elements = (main_runtime_graph->getOutputDataSizeByIndex(0) / sizeof(T));
+  std::vector<T> output_data_vector(output_data, output_data + num_elements);
+  return output_data_vector;
+}
+
+TEST_F(GatherNDTest, Gather_Float_P)
+{
+  test_kernel::TestDataFloatGatherND test_data_float_gather;
+  std::vector<float> output_data_vector = checkGatherNDKernel(&test_data_float_gather);
+  EXPECT_THAT(output_data_vector, kernels::testing::FloatArrayNear(
+                                    test_data_float_gather.get_output_data_by_index(0), 0.0001f));
+}
+
+TEST_F(GatherNDTest, Input_output_type_mismatch_NEG)
+{
+  test_kernel::NegTestDataInputOutputTypeMismatchGatherNDKernel test_data_kernel;
+
+  MemoryManager memory_manager{};
+  RuntimeModule runtime_module{};
+  bool dealloc_input = true;
+  // Load model with single op
+  auto *model_data_raw = reinterpret_cast<const char *>(test_data_kernel.get_model_ptr());
+  EXPECT_DEATH(ModuleLoader::load(&runtime_module, &memory_manager, model_data_raw, dealloc_input),
+               "");
+}
+
+} // namespace
+} // namespace luci_interpreter