diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index 73023b7e91..fc019796ff 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -34,6 +34,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - GPIO ETM tasks and events now accept `InputSignal` and `OutputSignal` (#2427)
 - `spi::master::Config` and `{Spi, SpiDma, SpiDmaBus}::apply_config` (#2448)
 - `embassy_embedded_hal::SetConfig` is now implemented for `spi::master::{Spi, SpiDma, SpiDmaBus}`, `i2c::master::I2c` (#2448, #?)
+- `I2c::{apply_config(), with_sda(), with_scl()}` (#?)
 
 ### Changed
 
@@ -71,6 +72,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - The `i2s::{I2sWrite, I2sWriteDma, I2sRead, I2sReadDma, I2sWriteDmaAsync, I2sReadDmaAsync}` traits have been removed. (#2316)
 - The `ledc::ChannelHW` trait is no longer generic. (#2387)
 - The `I2c::new_with_timeout` constructors have been removed (#2361)
+- `I2c::new()` no longer takes `frequency` and pins as parameters. (#?)
 - The `spi::master::HalfDuplexReadWrite` trait has been removed. (#2373)
 - The `Spi::with_pins` methods have been removed. (#2373)
 - The `Spi::new_half_duplex` constructor have been removed. (#2373)
diff --git a/esp-hal/MIGRATING-0.21.md b/esp-hal/MIGRATING-0.21.md
index fcd3fd54f4..8ef8fc20f4 100644
--- a/esp-hal/MIGRATING-0.21.md
+++ b/esp-hal/MIGRATING-0.21.md
@@ -72,14 +72,23 @@ The I2C master driver and related types have been moved to `esp_hal::i2c::master
 The `with_timeout` constructors have been removed. `new` and `new_typed` now take a `Config` struct
 with the available configuration options.
 
+The constructors no longer take pins. Use `with_sda` and `with_scl` instead.
+
 ```diff
+-use esp_hal::i2c::I2c;
++use esp_hal::i2c::{Config, I2c};
 -let i2c = I2c::new_with_timeout(peripherals.I2C0, io.pins.gpio4, io.pins.gpio5, 100.kHz(), timeout);
-+let i2c = I2c::new(peripherals.I2C0, io.pins.gpio4, io.pins.gpio5, {
-+    let mut config = Config::default();
-+    config.frequency = 100.kHz();
-+    config.timeout = timeout;
-+    config
-+});
++I2c::new_with_config(
++    peripherals.I2C0,
++    {
++        let mut config = Config::default();
++        config.frequency = 100.kHz();
++        config.timeout = timeout;
++        config
++    },
++)
++.with_sda(io.pins.gpio4)
++.with_scl(io.pins.gpio5);
 ```
 
 ## Changes to half-duplex SPI
diff --git a/esp-hal/src/i2c/master/mod.rs b/esp-hal/src/i2c/master/mod.rs
index f2bc19fd39..88da8e5819 100644
--- a/esp-hal/src/i2c/master/mod.rs
+++ b/esp-hal/src/i2c/master/mod.rs
@@ -26,10 +26,10 @@
 //! // and standard I2C clock speed.
 //! let mut i2c = I2c::new(
 //!     peripherals.I2C0,
-//!     io.pins.gpio1,
-//!     io.pins.gpio2,
 //!     Config::default(),
-//! );
+//! )
+//! .with_sda(io.pins.gpio1)
+//! .with_scl(io.pins.gpio2);
 //!
 //! loop {
 //!     let mut data = [0u8; 22];
@@ -346,30 +346,6 @@ impl<'d, T, DM: Mode> I2c<'d, DM, T>
 where
     T: Instance,
 {
-    fn new_internal(
-        i2c: impl Peripheral<P = T> + 'd,
-        sda: impl Peripheral<P = impl PeripheralOutput> + 'd,
-        scl: impl Peripheral<P = impl PeripheralOutput> + 'd,
-        config: Config,
-    ) -> Self {
-        crate::into_ref!(i2c);
-        crate::into_mapped_ref!(sda, scl);
-
-        let i2c = I2c {
-            i2c,
-            phantom: PhantomData,
-            config,
-        };
-
-        PeripheralClockControl::reset(i2c.i2c.peripheral());
-        PeripheralClockControl::enable(i2c.i2c.peripheral());
-
-        let i2c = i2c.with_sda(sda).with_scl(scl);
-
-        unwrap!(i2c.info().setup(&i2c.config));
-        i2c
-    }
-
     fn info(&self) -> &Info {
         self.i2c.info()
     }
@@ -446,14 +422,16 @@ where
         Ok(())
     }
 
-    fn with_sda(self, sda: impl Peripheral<P = impl PeripheralOutput> + 'd) -> Self {
+    /// Connect a pin to the I2C SDA signal.
+    pub fn with_sda(self, sda: impl Peripheral<P = impl PeripheralOutput> + 'd) -> Self {
         let info = self.info();
         let input = info.sda_input;
         let output = info.sda_output;
         self.with_pin(sda, input, output)
     }
 
-    fn with_scl(self, scl: impl Peripheral<P = impl PeripheralOutput> + 'd) -> Self {
+    /// Connect a pin to the I2C SCL signal.
+    pub fn with_scl(self, scl: impl Peripheral<P = impl PeripheralOutput> + 'd) -> Self {
         let info = self.info();
         let input = info.scl_input;
         let output = info.scl_output;
@@ -485,13 +463,8 @@ impl<'d> I2c<'d, Blocking> {
     /// Create a new I2C instance
     /// This will enable the peripheral but the peripheral won't get
     /// automatically disabled when this gets dropped.
-    pub fn new(
-        i2c: impl Peripheral<P = impl Instance> + 'd,
-        sda: impl Peripheral<P = impl PeripheralOutput> + 'd,
-        scl: impl Peripheral<P = impl PeripheralOutput> + 'd,
-        config: Config,
-    ) -> Self {
-        Self::new_typed(i2c.map_into(), sda, scl, config)
+    pub fn new(i2c: impl Peripheral<P = impl Instance> + 'd, config: Config) -> Self {
+        Self::new_typed(i2c.map_into(), config)
     }
 }
 
@@ -502,13 +475,20 @@ where
     /// Create a new I2C instance
     /// This will enable the peripheral but the peripheral won't get
     /// automatically disabled when this gets dropped.
-    pub fn new_typed(
-        i2c: impl Peripheral<P = T> + 'd,
-        sda: impl Peripheral<P = impl PeripheralOutput> + 'd,
-        scl: impl Peripheral<P = impl PeripheralOutput> + 'd,
-        config: Config,
-    ) -> Self {
-        Self::new_internal(i2c, sda, scl, config)
+    pub fn new_typed(i2c: impl Peripheral<P = T> + 'd, config: Config) -> Self {
+        crate::into_ref!(i2c);
+
+        let i2c = I2c {
+            i2c,
+            phantom: PhantomData,
+            config,
+        };
+
+        PeripheralClockControl::reset(i2c.i2c.peripheral());
+        PeripheralClockControl::enable(i2c.i2c.peripheral());
+
+        unwrap!(i2c.info().setup(&i2c.config));
+        i2c
     }
 
     // TODO: missing interrupt APIs
diff --git a/examples/src/bin/embassy_i2c.rs b/examples/src/bin/embassy_i2c.rs
index c3118707c1..64c046695a 100644
--- a/examples/src/bin/embassy_i2c.rs
+++ b/examples/src/bin/embassy_i2c.rs
@@ -36,11 +36,13 @@ async fn main(_spawner: Spawner) {
 
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
-    let i2c0 = I2c::new(peripherals.I2C0, io.pins.gpio4, io.pins.gpio5, {
+    let i2c0 = I2c::new(peripherals.I2C0, {
         let mut config = Config::default();
         config.frequency = 400.kHz();
         config
     })
+    .with_sda(io.pins.gpio4)
+    .with_scl(io.pins.gpio5)
     .into_async();
 
     let mut lis3dh = Lis3dh::new_i2c(i2c0, SlaveAddr::Alternate).await.unwrap();
diff --git a/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs b/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs
index cbe5677bf2..204f9e61f3 100644
--- a/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs
+++ b/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs
@@ -36,11 +36,13 @@ async fn main(_spawner: Spawner) {
 
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
-    let mut i2c = I2c::new(peripherals.I2C0, io.pins.gpio4, io.pins.gpio5, {
+    let mut i2c = I2c::new(peripherals.I2C0, {
         let mut config = Config::default();
         config.frequency = 400.kHz();
         config
     })
+    .with_sda(io.pins.gpio4)
+    .with_scl(io.pins.gpio5)
     .into_async();
 
     loop {
diff --git a/examples/src/bin/i2c_bmp180_calibration_data.rs b/examples/src/bin/i2c_bmp180_calibration_data.rs
index 5ffe3a2e03..7d75aa73ad 100644
--- a/examples/src/bin/i2c_bmp180_calibration_data.rs
+++ b/examples/src/bin/i2c_bmp180_calibration_data.rs
@@ -27,12 +27,9 @@ fn main() -> ! {
 
     // Create a new peripheral object with the described wiring and standard
     // I2C clock speed:
-    let mut i2c = I2c::new(
-        peripherals.I2C0,
-        io.pins.gpio4,
-        io.pins.gpio5,
-        Config::default(),
-    );
+    let mut i2c = I2c::new(peripherals.I2C0, Config::default())
+        .with_sda(io.pins.gpio4)
+        .with_scl(io.pins.gpio5);
 
     loop {
         let mut data = [0u8; 22];
diff --git a/examples/src/bin/i2c_display.rs b/examples/src/bin/i2c_display.rs
index 25836cb4fd..cf17fa0a02 100644
--- a/examples/src/bin/i2c_display.rs
+++ b/examples/src/bin/i2c_display.rs
@@ -39,12 +39,9 @@ fn main() -> ! {
 
     // Create a new peripheral object with the described wiring
     // and standard I2C clock speed
-    let i2c = I2c::new(
-        peripherals.I2C0,
-        io.pins.gpio4,
-        io.pins.gpio5,
-        Config::default(),
-    );
+    let i2c = I2c::new(peripherals.I2C0, Config::default())
+        .with_sda(io.pins.gpio4)
+        .with_scl(io.pins.gpio5);
 
     // Initialize display
     let interface = I2CDisplayInterface::new(i2c);
diff --git a/examples/src/bin/lcd_cam_ov2640.rs b/examples/src/bin/lcd_cam_ov2640.rs
index dafa262ec9..e9998d3932 100644
--- a/examples/src/bin/lcd_cam_ov2640.rs
+++ b/examples/src/bin/lcd_cam_ov2640.rs
@@ -82,7 +82,9 @@ fn main() -> ! {
 
     delay.delay_millis(500u32);
 
-    let i2c = I2c::new(peripherals.I2C0, cam_siod, cam_sioc, Config::default());
+    let i2c = I2c::new(peripherals.I2C0, Config::default())
+        .with_sda(cam_siod)
+        .with_scl(cam_sioc);
 
     let mut sccb = Sccb::new(i2c);
 
diff --git a/hil-test/tests/i2c.rs b/hil-test/tests/i2c.rs
index b0afb9fc78..09718abf15 100644
--- a/hil-test/tests/i2c.rs
+++ b/hil-test/tests/i2c.rs
@@ -39,7 +39,9 @@ mod tests {
 
         // Create a new peripheral object with the described wiring and standard
         // I2C clock speed:
-        let i2c = I2c::new(peripherals.I2C0, sda, scl, Config::default());
+        let i2c = I2c::new(peripherals.I2C0, Config::default())
+            .with_sda(sda)
+            .with_scl(scl);
 
         Context { i2c }
     }