diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index f742791b5d..25685c5a2d 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -29,6 +29,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - `gpio::{GpioPin, AnyPin, Flex, Output, OutputOpenDrain}::split()` to obtain peripheral interconnect signals. (#2418)
 - `gpio::Input::{split(), into_peripheral_output()}` when used with output pins. (#2418)
 - `gpio::Output::peripheral_input()` (#2418)
+- `I2c::{apply_config(), with_sda(), with_scl()}` (#2437)
+- `I2c` now implements `embassy_embedded_hal::SetConfig` (#2437)
 
 ### Changed
 
@@ -74,6 +76,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Removed the pin type parameters from `lcd_cam::cam::{RxEightBits, RxSixteenBits}` (#2388)
 - Most of the async-specific constructors (`new_async`, `new_async_no_transceiver`) have been removed. (#2430)
 - The `configure_for_async` DMA functions have been removed (#2430)
+- `I2c::new()` no longer takes `frequency` and pins as parameters. (#2437)
 
 ## [0.21.1]
 
diff --git a/esp-hal/Cargo.toml b/esp-hal/Cargo.toml
index 71f0a184cc..307ec0c918 100644
--- a/esp-hal/Cargo.toml
+++ b/esp-hal/Cargo.toml
@@ -25,6 +25,7 @@ defmt                    = { version = "0.3.8", optional = true }
 delegate                 = "0.12.0"
 digest                   = { version = "0.10.7", default-features = false, optional = true }
 document-features        = "0.2.10"
+embassy-embedded-hal     = "0.2.0"
 embassy-futures          = "0.1.1"
 embassy-sync             = "0.6.0"
 embassy-usb-driver       = { version = "0.1.0", optional = true }
diff --git a/esp-hal/MIGRATING-0.21.md b/esp-hal/MIGRATING-0.21.md
index 46708dfa20..bd68be9bcc 100644
--- a/esp-hal/MIGRATING-0.21.md
+++ b/esp-hal/MIGRATING-0.21.md
@@ -230,3 +230,30 @@ The previous signal function have been replaced by `split`. This change affects
 
 `into_peripheral_output`, `split` (for output pins only) and `peripheral_input` have been added to
 the GPIO drivers (`Input`, `Output`, `OutputOpenDrain` and `Flex`) instead.
+
+## Changes to peripheral configuration
+
+### I2C drivers can now be configured using `i2c::Config`
+
+- The old methods to change configuration have been removed.
+- The `new` and `new_typed` constructor no longer takes `frequency` and pins.
+- The default configuration is now:
+  - bus frequency: 100 kHz
+  - timeout: `None`
+- There are new constructors (`new_with_config`, `new_typed_with_config`) and a new `apply_config` method to apply custom configuration.
+- Pins can now be configured using `with_sda` and `with_scl`
+
+```diff
+-use esp_hal::i2c::I2c;
++use esp_hal::i2c::{Config, I2c};
+-I2c::new(I2C0, sda, scl, 100.kHz());
++I2c::new_with_config(
++    I2C0,
++    Config {
++        frequency: 400.kHz(),
++        ..Config::default()
++    },
++)
++.with_sda(sda)
++.with_scl(scl);
+```
\ No newline at end of file
diff --git a/esp-hal/src/i2c/mod.rs b/esp-hal/src/i2c/mod.rs
index 6e14ba3426..bc109cd017 100644
--- a/esp-hal/src/i2c/mod.rs
+++ b/esp-hal/src/i2c/mod.rs
@@ -55,8 +55,9 @@
 mod support;
 mod version;
 
-use core::marker::PhantomData;
+use core::{convert::Infallible, marker::PhantomData};
 
+use embassy_embedded_hal::SetConfig;
 use embassy_sync::waitqueue::AtomicWaker;
 use fugit::HertzU32;
 use version::{I2C_CHUNK_SIZE, I2C_LL_INTR_MASK};
@@ -205,12 +206,44 @@ impl From<Ack> for u32 {
     }
 }
 
+/// I2C driver configuration
+#[derive(Debug, Clone, Copy)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct Config {
+    /// The I2C clock frequency.
+    pub frequency: HertzU32,
+
+    /// The I2C timeout.
+    // TODO: explain this function better - what's the unit, what happens on
+    // timeout, and just what exactly is a timeout in this context?
+    pub timeout: Option<u32>,
+}
+
+impl Default for Config {
+    fn default() -> Self {
+        use fugit::RateExtU32;
+        Config {
+            frequency: 100.kHz(),
+            timeout: None,
+        }
+    }
+}
+
 /// I2C driver
 pub struct I2c<'d, DM: Mode, T = AnyI2c> {
     i2c: PeripheralRef<'d, T>,
     phantom: PhantomData<DM>,
-    frequency: HertzU32,
-    timeout: Option<u32>,
+    config: Config,
+}
+
+impl<T: Instance, DM: Mode> SetConfig for I2c<'_, DM, T> {
+    type Config = Config;
+    type ConfigError = Infallible;
+
+    fn set_config(&mut self, config: &Self::Config) -> Result<(), Self::ConfigError> {
+        self.apply_config(config);
+        Ok(())
+    }
 }
 
 impl<'d, T, DM: Mode> I2c<'d, DM, T>
@@ -228,16 +261,13 @@ where
         PeripheralClockControl::reset(self.i2c.peripheral());
         PeripheralClockControl::enable(self.i2c.peripheral());
 
-        self.driver().setup(self.frequency, self.timeout);
+        self.driver().setup(&self.config);
     }
 
-    /// Set the I2C timeout.
-    // TODO: explain this function better - what's the unit, what happens on
-    // timeout, and just what exactly is a timeout in this context?
-    pub fn with_timeout(mut self, timeout: Option<u32>) -> Self {
-        self.timeout = timeout;
-        self.driver().setup(self.frequency, self.timeout);
-        self
+    /// Applies a new configuration.
+    pub fn apply_config(&mut self, config: &Config) {
+        self.config = *config;
+        self.driver().setup(&self.config);
     }
 
     fn transaction_impl<'a>(
@@ -335,11 +365,20 @@ where
 }
 
 impl<'d> I2c<'d, Blocking> {
-    /// Create a new I2C instance
+    /// Creates 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) -> Self {
+        Self::new_with_config(i2c.map_into(), Config::default())
+    }
+
+    /// Creates a new I2C instance with a given configuration.
+    ///
     /// 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, frequency: HertzU32) -> Self {
-        Self::new_typed(i2c.map_into(), frequency)
+    pub fn new_with_config(i2c: impl Peripheral<P = impl Instance> + 'd, config: Config) -> Self {
+        Self::new_typed_with_config(i2c.map_into(), config)
     }
 }
 
@@ -347,23 +386,31 @@ impl<'d, T> I2c<'d, Blocking, T>
 where
     T: Instance,
 {
-    /// Create a new I2C instance
+    /// Creates a new I2C instance with a given configuration.
+    ///
+    /// 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) -> Self {
+        Self::new_typed_with_config(i2c, Config::default())
+    }
+
+    /// Creates a new I2C instance with a given configuration.
+    ///
     /// 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, frequency: HertzU32) -> Self {
+    pub fn new_typed_with_config(i2c: impl Peripheral<P = T> + 'd, config: Config) -> Self {
         crate::into_ref!(i2c);
 
         let i2c = I2c {
             i2c,
             phantom: PhantomData,
-            frequency,
-            timeout: None,
+            config,
         };
 
         PeripheralClockControl::reset(i2c.i2c.peripheral());
         PeripheralClockControl::enable(i2c.i2c.peripheral());
 
-        i2c.driver().setup(frequency, None);
+        i2c.driver().setup(&i2c.config);
         i2c
     }
 
@@ -376,8 +423,7 @@ where
         I2c {
             i2c: self.i2c,
             phantom: PhantomData,
-            frequency: self.frequency,
-            timeout: self.timeout,
+            config: self.config,
         }
     }
 
@@ -532,8 +578,7 @@ where
         I2c {
             i2c: self.i2c,
             phantom: PhantomData,
-            frequency: self.frequency,
-            timeout: self.timeout,
+            config: self.config,
         }
     }
 
@@ -867,7 +912,7 @@ struct Driver<'a> {
 impl Driver<'_> {
     /// Configures the I2C peripheral with the specified frequency, clocks, and
     /// optional timeout.
-    fn setup(&self, frequency: HertzU32, timeout: Option<u32>) {
+    fn setup(&self, config: &Config) {
         self.info.register_block().ctr().write(|w| {
             // Set I2C controller to master mode
             w.ms_mode().set_bit();
@@ -888,7 +933,7 @@ impl Driver<'_> {
         self.set_filter(Some(7), Some(7));
 
         // Configure frequency
-        self.set_frequency(frequency, timeout);
+        self.set_frequency(config.frequency, config.timeout);
 
         self.update_config();
 
diff --git a/examples/src/bin/embassy_i2c.rs b/examples/src/bin/embassy_i2c.rs
index 8b6fcb343c..f0fe41b867 100644
--- a/examples/src/bin/embassy_i2c.rs
+++ b/examples/src/bin/embassy_i2c.rs
@@ -31,7 +31,7 @@ async fn main(_spawner: Spawner) {
 
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
-    let i2c0 = I2c::new(peripherals.I2C0, 400.kHz())
+    let i2c0 = I2c::new(peripherals.I2C0)
         .with_sda(io.pins.gpio4)
         .with_scl(io.pins.gpio5)
         .into_async();
diff --git a/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs b/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs
index 7ba6bc9179..fbc5de7a95 100644
--- a/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs
+++ b/examples/src/bin/embassy_i2c_bmp180_calibration_data.rs
@@ -31,7 +31,7 @@ async fn main(_spawner: Spawner) {
 
     let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
 
-    let mut i2c = I2c::new(peripherals.I2C0, 400.kHz())
+    let mut i2c = I2c::new(peripherals.I2C0)
         .with_sda(io.pins.gpio4)
         .with_scl(io.pins.gpio5)
         .into_async();
diff --git a/examples/src/bin/i2c_bmp180_calibration_data.rs b/examples/src/bin/i2c_bmp180_calibration_data.rs
index 161a30a692..86f4ea7b94 100644
--- a/examples/src/bin/i2c_bmp180_calibration_data.rs
+++ b/examples/src/bin/i2c_bmp180_calibration_data.rs
@@ -23,7 +23,7 @@ fn main() -> ! {
 
     // Create a new peripheral object with the described wiring and standard
     // I2C clock speed:
-    let mut i2c = I2c::new(peripherals.I2C0, 100.kHz())
+    let mut i2c = I2c::new(peripherals.I2C0)
         .with_sda(io.pins.gpio4)
         .with_scl(io.pins.gpio5);
 
diff --git a/examples/src/bin/i2c_display.rs b/examples/src/bin/i2c_display.rs
index 60848f3666..72821a4808 100644
--- a/examples/src/bin/i2c_display.rs
+++ b/examples/src/bin/i2c_display.rs
@@ -34,7 +34,7 @@ fn main() -> ! {
 
     // Create a new peripheral object with the described wiring
     // and standard I2C clock speed
-    let i2c = I2c::new(peripherals.I2C0, 100.kHz())
+    let i2c = I2c::new(peripherals.I2C0)
         .with_sda(io.pins.gpio4)
         .with_scl(io.pins.gpio5);
 
diff --git a/examples/src/bin/lcd_cam_ov2640.rs b/examples/src/bin/lcd_cam_ov2640.rs
index 6220401f3e..f3dd74cc51 100644
--- a/examples/src/bin/lcd_cam_ov2640.rs
+++ b/examples/src/bin/lcd_cam_ov2640.rs
@@ -80,7 +80,7 @@ fn main() -> ! {
 
     delay.delay_millis(500u32);
 
-    let i2c = I2c::new(peripherals.I2C0, 100u32.kHz())
+    let i2c = I2c::new(peripherals.I2C0)
         .with_sda(cam_siod)
         .with_scl(cam_sioc);
 
diff --git a/hil-test/tests/i2c.rs b/hil-test/tests/i2c.rs
index c8949c0886..9cf9991764 100644
--- a/hil-test/tests/i2c.rs
+++ b/hil-test/tests/i2c.rs
@@ -8,7 +8,6 @@
 use esp_hal::{
     gpio::Io,
     i2c::{I2c, Operation},
-    prelude::*,
     Async,
     Blocking,
 };
@@ -40,11 +39,9 @@ mod tests {
 
         // Create a new peripheral object with the described wiring and standard
         // I2C clock speed:
-        let i2c = I2c::new(peripherals.I2C0, 100.kHz())
-            .with_sda(sda)
-            .with_scl(scl);
-
-        Context { i2c }
+        Context {
+            i2c: I2c::new(peripherals.I2C0).with_sda(sda).with_scl(scl),
+        }
     }
 
     #[test]