diff --git a/CHANGELOG.md b/CHANGELOG.md
index 75eab9a1..9c935cd6 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/).
 - removed register writer & reader wrappers, generic `REG` in field writers (#731)
 - Updated syn to version 2 (#732)
 - Let readable field fetch doc from svd description (#734)
+- Add `steal()` for each peripheral
 
 ## [v0.29.0] - 2023-06-05
 
diff --git a/src/generate/peripheral.rs b/src/generate/peripheral.rs
index 5dbfdeb8..b27051bb 100644
--- a/src/generate/peripheral.rs
+++ b/src/generate/peripheral.rs
@@ -53,6 +53,25 @@ pub fn render(p_original: &Peripheral, index: &Index, config: &Config) -> Result
         feature_attribute.extend(quote! { #[cfg(feature = #feature_name)] });
     };
 
+    let steal_fn = quote! {
+        /// Steal an instance of this peripheral
+        ///
+        /// # Safety
+        ///
+        /// Ensure that the new instance of the peripheral cannot be used in a way
+        /// that may race with any existing instances, for example by only
+        /// accessing read-only or write-only registers, or by consuming the
+        /// original peripheral and using critical sections to coordinate
+        /// access between multiple new instances.
+        ///
+        /// Additionally, other software such as HALs may rely on only one
+        /// peripheral instance existing to ensure memory safety; ensure
+        /// no stolen instances are passed to such software.
+        pub unsafe fn steal() -> Self {
+            Self { _marker: PhantomData }
+        }
+    };
+
     match &p {
         Peripheral::Array(p, dim) => {
             let names: Vec<Cow<str>> = names(p, dim).map(|n| n.into()).collect();
@@ -91,6 +110,8 @@ pub fn render(p_original: &Peripheral, index: &Index, config: &Config) -> Result
                         pub const fn ptr() -> *const #base::RegisterBlock {
                             Self::PTR
                         }
+
+                        #steal_fn
                     }
 
                     #feature_attribute_n
@@ -150,6 +171,8 @@ pub fn render(p_original: &Peripheral, index: &Index, config: &Config) -> Result
                     pub const fn ptr() -> *const #base::RegisterBlock {
                         Self::PTR
                     }
+
+                    #steal_fn
                 }
 
                 #feature_attribute
diff --git a/src/lib.rs b/src/lib.rs
index 08d90bf6..2fae4718 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -186,9 +186,9 @@
 //! use the implementation provided by the target crate like `cortex-m`, `riscv` and `*-hal` crates.
 //! See more details in the [`critical-section`](https://crates.io/crates/critical-section) crate documentation.
 //!
-//! The singleton property can be *unsafely* bypassed using the `ptr` static method which is
-//! available on all the peripheral types. This method is useful for implementing safe higher
-//! level abstractions.
+//! The singleton property can be *unsafely* bypassed using the `ptr` or `steal` static methods
+//! which are available on all the peripheral types. This method is useful for implementing safe
+//! higher level abstractions.
 //!
 //! ```ignore
 //! struct PA0 { _0: () }