diff --git a/pimd/pim_cmd.c b/pimd/pim_cmd.c
index 0b503b8293..aa7fc0d81f 100644
--- a/pimd/pim_cmd.c
+++ b/pimd/pim_cmd.c
@@ -2820,6 +2820,75 @@ DEFPY (show_ip_pim_rp_vrf_all,
 					  (struct prefix *)group, !!json);
 }
 
+DEFPY (show_ip_pim_autorp,
+       show_ip_pim_autorp_cmd,
+       "show ip pim [vrf NAME] autorp [json$json]",
+       SHOW_STR
+       IP_STR
+       PIM_STR
+       VRF_CMD_HELP_STR
+       "PIM AutoRP information\n"
+       JSON_STR)
+{
+	struct vrf *v;
+	json_object *json_parent = NULL;
+
+	v = vrf_lookup_by_name(vrf ? vrf : VRF_DEFAULT_NAME);
+	if (!v || !v->info) {
+		if (!json)
+			vty_out(vty, "%% Unable to find pim instance\n");
+		return CMD_WARNING;
+	}
+
+	if (json)
+		json_parent = json_object_new_object();
+
+	pim_autorp_show_autorp(vty, v->info, json_parent);
+
+	if (json)
+		vty_json(vty, json_parent);
+
+	return CMD_SUCCESS;
+}
+
+DEFPY (show_ip_pim_autorp_vrf_all,
+       show_ip_pim_autorp_vrf_all_cmd,
+       "show ip pim vrf all autorp [json$json]",
+       SHOW_STR
+       IP_STR
+       PIM_STR
+       VRF_CMD_HELP_STR
+       "PIM AutoRP information\n"
+       JSON_STR)
+{
+	struct vrf *vrf;
+	json_object *json_parent = NULL;
+	json_object *json_vrf = NULL;
+
+	if (json)
+		json_parent = json_object_new_object();
+
+	RB_FOREACH (vrf, vrf_name_head, &vrfs_by_name) {
+		if (vrf->info) {
+			if (!json)
+				vty_out(vty, "VRF: %s\n", vrf->name);
+			else
+				json_vrf = json_object_new_object();
+
+			pim_autorp_show_autorp(vty, vrf->info, json_vrf);
+
+			if (json)
+				json_object_object_add(json_parent, vrf->name,
+						       json_vrf);
+		}
+	}
+
+	if (json)
+		vty_json(vty, json_parent);
+
+	return CMD_SUCCESS;
+}
+
 DEFPY (show_ip_pim_rpf,
        show_ip_pim_rpf_cmd,
        "show ip pim [vrf NAME] rpf [json$json]",
@@ -4516,6 +4585,52 @@ DEFPY_ATTR(no_ip_pim_rp_prefix_list,
 	return ret;
 }
 
+DEFPY (pim_autorp_discovery,
+       pim_autorp_discovery_cmd,
+       "[no] autorp discovery",
+       NO_STR
+       "AutoRP\n"
+       "Enable AutoRP discovery\n")
+{
+	if (no)
+		return pim_process_no_autorp_cmd(vty);
+	else
+		return pim_process_autorp_cmd(vty);
+}
+
+DEFPY (pim_autorp_announce_rp,
+       pim_autorp_announce_rp_cmd,
+       "[no] autorp announce A.B.C.D$rpaddr ![A.B.C.D/M$grp|group-list PREFIX_LIST$plist]",
+       NO_STR
+       "AutoRP\n"
+       "AutoRP Candidate RP announcement\n"
+       "AutoRP Candidate RP address\n"
+       "Group prefix\n"
+       "Prefix list\n"
+       "List name\n")
+{
+	return pim_process_autorp_candidate_rp_cmd(vty, no, rpaddr_str, grp,
+						   plist);
+}
+
+DEFPY (pim_autorp_announce_scope_int,
+       pim_autorp_announce_scope_int_cmd,
+       "[no] autorp announce ![{scope (1-255) | interval (1-65535) | holdtime (0-65535)}]",
+       NO_STR
+       "AutoRP\n"
+       "AutoRP Candidate RP announcement\n"
+       "Packet scope (TTL)\n"
+       "TTL value\n"
+       "Announcement interval\n"
+       "Time in seconds\n"
+       "Announcement holdtime\n"
+       "Time in seconds\n")
+{
+	return pim_process_autorp_announce_scope_int_cmd(vty, no, scope_str,
+							 interval_str,
+							 holdtime_str);
+}
+
 DEFPY (pim_bsr_candidate_bsr,
        pim_bsr_candidate_bsr_cmd,
        "[no] bsr candidate-bsr [{priority (0-255)|source <address A.B.C.D|interface IFNAME|loopback$loopback|any$any>}]",
@@ -6377,6 +6492,29 @@ DEFUN (no_debug_bsm,
 	return CMD_SUCCESS;
 }
 
+DEFUN (debug_autorp,
+       debug_autorp_cmd,
+       "debug pim autorp",
+       DEBUG_STR
+       DEBUG_PIM_STR
+       DEBUG_PIM_AUTORP_STR)
+{
+	PIM_DO_DEBUG_AUTORP;
+	return CMD_SUCCESS;
+}
+
+DEFUN (no_debug_autorp,
+       no_debug_autorp_cmd,
+       "no debug pim autorp",
+       NO_STR
+       DEBUG_STR
+       DEBUG_PIM_STR
+       DEBUG_PIM_AUTORP_STR)
+{
+	PIM_DONT_DEBUG_AUTORP;
+	return CMD_SUCCESS;
+}
+
 
 DEFUN_NOSH (show_debugging_pim,
 	    show_debugging_pim_cmd,
@@ -8714,6 +8852,9 @@ void pim_cmd_init(void)
 	install_element(PIM_NODE, &no_pim_rp_cmd);
 	install_element(PIM_NODE, &pim_rp_prefix_list_cmd);
 	install_element(PIM_NODE, &no_pim_rp_prefix_list_cmd);
+	install_element(PIM_NODE, &pim_autorp_discovery_cmd);
+	install_element(PIM_NODE, &pim_autorp_announce_rp_cmd);
+	install_element(PIM_NODE, &pim_autorp_announce_scope_int_cmd);
 	install_element(PIM_NODE, &no_pim_ssm_prefix_list_cmd);
 	install_element(PIM_NODE, &no_pim_ssm_prefix_list_name_cmd);
 	install_element(PIM_NODE, &pim_ssm_prefix_list_cmd);
@@ -8868,6 +9009,8 @@ void pim_cmd_init(void)
 	install_element(VIEW_NODE, &show_ip_pim_upstream_rpf_cmd);
 	install_element(VIEW_NODE, &show_ip_pim_rp_cmd);
 	install_element(VIEW_NODE, &show_ip_pim_rp_vrf_all_cmd);
+	install_element(VIEW_NODE, &show_ip_pim_autorp_cmd);
+	install_element(VIEW_NODE, &show_ip_pim_autorp_vrf_all_cmd);
 	install_element(VIEW_NODE, &show_ip_pim_bsr_cmd);
 	install_element(VIEW_NODE, &show_ip_multicast_cmd);
 	install_element(VIEW_NODE, &show_ip_multicast_vrf_all_cmd);
@@ -8975,6 +9118,8 @@ void pim_cmd_init(void)
 	install_element(CONFIG_NODE, &debug_pim_trace_detail_cmd);
 	install_element(ENABLE_NODE, &debug_ssmpingd_cmd);
 	install_element(CONFIG_NODE, &debug_ssmpingd_cmd);
+	install_element(ENABLE_NODE, &debug_autorp_cmd);
+	install_element(ENABLE_NODE, &no_debug_autorp_cmd);
 	install_element(ENABLE_NODE, &no_debug_ssmpingd_cmd);
 	install_element(CONFIG_NODE, &no_debug_ssmpingd_cmd);
 	install_element(ENABLE_NODE, &debug_pim_zebra_cmd);
@@ -9007,6 +9152,8 @@ void pim_cmd_init(void)
 	install_element(CONFIG_NODE, &debug_bsm_cmd);
 	install_element(ENABLE_NODE, &no_debug_bsm_cmd);
 	install_element(CONFIG_NODE, &no_debug_bsm_cmd);
+	install_element(CONFIG_NODE, &debug_autorp_cmd);
+	install_element(CONFIG_NODE, &no_debug_autorp_cmd);
 
 	install_element(CONFIG_NODE, &ip_igmp_group_watermark_cmd);
 	install_element(VRF_NODE, &ip_igmp_group_watermark_cmd);
diff --git a/pimd/pim_cmd.h b/pimd/pim_cmd.h
index d39d77cd2f..17cf4bb362 100644
--- a/pimd/pim_cmd.h
+++ b/pimd/pim_cmd.h
@@ -56,6 +56,7 @@
 #define DEBUG_MSDP_PACKETS_STR                      "MSDP protocol packets\n"
 #define DEBUG_MTRACE_STR                            "Mtrace protocol activity\n"
 #define DEBUG_PIM_BSM_STR                           "BSR message processing activity\n"
+#define DEBUG_PIM_AUTORP_STR			    "AutoRP message processing activity\n"
 
 
 void pim_cmd_init(void);
diff --git a/pimd/pim_cmd_common.c b/pimd/pim_cmd_common.c
index 7337bacc84..be7460d0fb 100644
--- a/pimd/pim_cmd_common.c
+++ b/pimd/pim_cmd_common.c
@@ -606,6 +606,165 @@ int pim_process_no_rp_plist_cmd(struct vty *vty, const char *rp_str,
 	return nb_cli_apply_changes(vty, NULL);
 }
 
+int pim_process_autorp_cmd(struct vty *vty)
+{
+	char xpath[XPATH_MAXLEN];
+
+	snprintf(xpath, sizeof(xpath), "%s/%s", FRR_PIM_AUTORP_XPATH,
+		 "discovery-enabled");
+
+	nb_cli_enqueue_change(vty, xpath, NB_OP_MODIFY, "true");
+
+	return nb_cli_apply_changes(vty, NULL);
+}
+
+int pim_process_no_autorp_cmd(struct vty *vty)
+{
+	char xpath[XPATH_MAXLEN];
+
+	snprintf(xpath, sizeof(xpath), "%s/%s", FRR_PIM_AUTORP_XPATH,
+		 "discovery-enabled");
+
+	nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY, NULL);
+
+	return nb_cli_apply_changes(vty, NULL);
+}
+
+int pim_process_autorp_candidate_rp_cmd(struct vty *vty, bool no,
+					const char *rpaddr_str,
+					const struct prefix_ipv4 *grp,
+					const char *plist)
+{
+	char xpath[XPATH_MAXLEN];
+	char grpstr[64];
+
+	if (no) {
+		if (!is_default_prefix((const struct prefix *)grp) || plist) {
+			/* If any single values are set, only destroy those */
+			if (!is_default_prefix((const struct prefix *)grp)) {
+				snprintfrr(xpath, sizeof(xpath),
+					   "%s/candidate-rp-list[rp-address='%s']/group",
+					   FRR_PIM_AUTORP_XPATH, rpaddr_str);
+				nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY,
+						      NULL);
+			}
+			if (plist) {
+				snprintfrr(xpath, sizeof(xpath),
+					   "%s/candidate-rp-list[rp-address='%s']/prefix-list",
+					   FRR_PIM_AUTORP_XPATH, rpaddr_str);
+				nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY,
+						      NULL);
+			}
+		} else {
+			/* No values set, remove the entire RP */
+			snprintfrr(xpath, sizeof(xpath),
+				   "%s/candidate-rp-list[rp-address='%s']",
+				   FRR_PIM_AUTORP_XPATH, rpaddr_str);
+			nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY, NULL);
+		}
+	} else {
+		if (!is_default_prefix((const struct prefix *)grp) || plist) {
+			snprintfrr(xpath, sizeof(xpath),
+				   "%s/candidate-rp-list[rp-address='%s']",
+				   FRR_PIM_AUTORP_XPATH, rpaddr_str);
+			nb_cli_enqueue_change(vty, xpath, NB_OP_CREATE, NULL);
+			if (!is_default_prefix((const struct prefix *)grp)) {
+				snprintfrr(xpath, sizeof(xpath),
+					   "%s/candidate-rp-list[rp-address='%s']/group",
+					   FRR_PIM_AUTORP_XPATH, rpaddr_str);
+				nb_cli_enqueue_change(vty, xpath, NB_OP_MODIFY,
+						      prefix2str(grp, grpstr,
+								 sizeof(grpstr)));
+			}
+			if (plist) {
+				snprintfrr(xpath, sizeof(xpath),
+					   "%s/candidate-rp-list[rp-address='%s']/prefix-list",
+					   FRR_PIM_AUTORP_XPATH, rpaddr_str);
+				nb_cli_enqueue_change(vty, xpath, NB_OP_MODIFY,
+						      plist);
+			}
+		} else {
+			return CMD_WARNING_CONFIG_FAILED;
+		}
+	}
+
+	return nb_cli_apply_changes(vty, NULL);
+}
+
+int pim_process_autorp_announce_scope_int_cmd(struct vty *vty, bool no,
+					      const char *scope,
+					      const char *interval,
+					      const char *holdtime)
+{
+	char xpath[XPATH_MAXLEN];
+
+	if (no) {
+		if (scope || interval || holdtime) {
+			/* If any single values are set, only destroy those */
+			if (scope) {
+				snprintfrr(xpath, sizeof(xpath), "%s/%s",
+					   FRR_PIM_AUTORP_XPATH,
+					   "announce-scope");
+				nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY,
+						      NULL);
+			}
+			if (interval) {
+				snprintfrr(xpath, sizeof(xpath), "%s/%s",
+					   FRR_PIM_AUTORP_XPATH,
+					   "announce-interval");
+				nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY,
+						      NULL);
+			}
+			if (holdtime) {
+				snprintfrr(xpath, sizeof(xpath), "%s/%s",
+					   FRR_PIM_AUTORP_XPATH,
+					   "announce-holdtime");
+				nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY,
+						      NULL);
+			}
+		} else {
+			/* No values set, remove all */
+			snprintfrr(xpath, sizeof(xpath), "%s/%s",
+				   FRR_PIM_AUTORP_XPATH, "announce-scope");
+			nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY, NULL);
+			snprintfrr(xpath, sizeof(xpath), "%s/%s",
+				   FRR_PIM_AUTORP_XPATH, "announce-interval");
+			nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY, NULL);
+			snprintfrr(xpath, sizeof(xpath), "%s/%s",
+				   FRR_PIM_AUTORP_XPATH, "announce-holdtime");
+			nb_cli_enqueue_change(vty, xpath, NB_OP_DESTROY, NULL);
+		}
+	} else {
+		if (scope || interval || holdtime) {
+			if (scope) {
+				snprintfrr(xpath, sizeof(xpath), "%s/%s",
+					   FRR_PIM_AUTORP_XPATH,
+					   "announce-scope");
+				nb_cli_enqueue_change(vty, xpath, NB_OP_MODIFY,
+						      scope);
+			}
+			if (interval) {
+				snprintfrr(xpath, sizeof(xpath), "%s/%s",
+					   FRR_PIM_AUTORP_XPATH,
+					   "announce-interval");
+				nb_cli_enqueue_change(vty, xpath, NB_OP_MODIFY,
+						      interval);
+			}
+			if (holdtime) {
+				snprintfrr(xpath, sizeof(xpath), "%s/%s",
+					   FRR_PIM_AUTORP_XPATH,
+					   "announce-holdtime");
+				nb_cli_enqueue_change(vty, xpath, NB_OP_MODIFY,
+						      holdtime);
+			}
+		} else {
+			return CMD_WARNING_CONFIG_FAILED;
+		}
+	}
+
+	return nb_cli_apply_changes(vty, NULL);
+}
+
 bool pim_sgaddr_match(pim_sgaddr item, pim_sgaddr match)
 {
 	return (pim_addr_is_any(match.grp) ||
diff --git a/pimd/pim_cmd_common.h b/pimd/pim_cmd_common.h
index 7ded9b246a..d7c97e31d4 100644
--- a/pimd/pim_cmd_common.h
+++ b/pimd/pim_cmd_common.h
@@ -35,7 +35,16 @@ int pim_process_rp_plist_cmd(struct vty *vty, const char *rp_str,
 			     const char *prefix_list);
 int pim_process_no_rp_plist_cmd(struct vty *vty, const char *rp_str,
 				const char *prefix_list);
-
+int pim_process_autorp_cmd(struct vty *vty);
+int pim_process_no_autorp_cmd(struct vty *vty);
+int pim_process_autorp_candidate_rp_cmd(struct vty *vty, bool no,
+					const char *rpaddr_str,
+					const struct prefix_ipv4 *grp,
+					const char *plist);
+int pim_process_autorp_announce_scope_int_cmd(struct vty *vty, bool no,
+					      const char *scope,
+					      const char *interval,
+					      const char *holdtime);
 int pim_process_ip_pim_cmd(struct vty *vty);
 int pim_process_no_ip_pim_cmd(struct vty *vty);
 int pim_process_ip_pim_passive_cmd(struct vty *vty, bool enable);
diff --git a/pimd/pim_nb.c b/pimd/pim_nb.c
index 3c36512a3d..66001d1463 100644
--- a/pimd/pim_nb.c
+++ b/pimd/pim_nb.c
@@ -379,6 +379,55 @@ const struct frr_yang_module_info frr_pim_rp_info = {
 				.destroy = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_static_rp_rp_list_prefix_list_destroy,
 			}
 		},
+		{
+			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/discovery-enabled",
+			.cbs = {
+				.modify = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_discovery_enabled_modify,
+				.destroy = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_discovery_enabled_destroy,
+			}
+		},
+		{
+			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/announce-scope",
+			.cbs = {
+				.modify = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_scope_modify,
+				.destroy = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_scope_destroy,
+			}
+		},
+		{
+			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/announce-interval",
+			.cbs = {
+				.modify = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_interval_modify,
+				.destroy = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_interval_destroy,
+			}
+		},
+		{
+			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/announce-holdtime",
+			.cbs = {
+				.modify = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_holdtime_modify,
+				.destroy = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_holdtime_destroy,
+			}
+		},
+		{
+			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/candidate-rp-list",
+			.cbs = {
+				.create = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_create,
+				.destroy = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_destroy,
+			}
+		},
+		{
+			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/candidate-rp-list/group",
+			.cbs = {
+				.modify = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_group_modify,
+				.destroy = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_group_destroy,
+			}
+		},
+		{
+			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/candidate-rp-list/prefix-list",
+			.cbs = {
+				.modify = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_prefix_list_modify,
+				.destroy = routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_prefix_list_destroy,
+			}
+		},
 		{
 			.xpath = NULL,
 		},
diff --git a/pimd/pim_nb.h b/pimd/pim_nb.h
index dfab582968..befad4efe4 100644
--- a/pimd/pim_nb.h
+++ b/pimd/pim_nb.h
@@ -159,6 +159,34 @@ int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp
 	struct nb_cb_modify_args *args);
 int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_static_rp_rp_list_prefix_list_destroy(
 	struct nb_cb_destroy_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_discovery_enabled_modify(
+	struct nb_cb_modify_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_discovery_enabled_destroy(
+	struct nb_cb_destroy_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_scope_modify(
+	struct nb_cb_modify_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_scope_destroy(
+	struct nb_cb_destroy_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_interval_modify(
+	struct nb_cb_modify_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_interval_destroy(
+	struct nb_cb_destroy_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_holdtime_modify(
+	struct nb_cb_modify_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_holdtime_destroy(
+	struct nb_cb_destroy_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_create(
+	struct nb_cb_create_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_destroy(
+	struct nb_cb_destroy_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_group_modify(
+	struct nb_cb_modify_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_group_destroy(
+	struct nb_cb_destroy_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_prefix_list_modify(
+	struct nb_cb_modify_args *args);
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_prefix_list_destroy(
+	struct nb_cb_destroy_args *args);
 
 /* frr-cand-bsr */
 int routing_control_plane_protocols_control_plane_protocol_pim_address_family_candidate_bsr_create(
@@ -258,6 +286,7 @@ int routing_control_plane_protocols_name_validate(
 	"mroute[source-addr='%s'][group-addr='%s']"
 #define FRR_PIM_STATIC_RP_XPATH                                         \
 	"frr-pim-rp:rp/static-rp/rp-list[rp-address='%s']"
+#define FRR_PIM_AUTORP_XPATH "./frr-pim-rp:rp/auto-rp"
 #define FRR_GMP_INTERFACE_XPATH                                         \
 	"./frr-gmp:gmp/address-family[address-family='%s']"
 #define FRR_GMP_ENABLE_XPATH                                            \
diff --git a/pimd/pim_nb_config.c b/pimd/pim_nb_config.c
index 0366d8a857..2b78b8671f 100644
--- a/pimd/pim_nb_config.c
+++ b/pimd/pim_nb_config.c
@@ -26,6 +26,7 @@
 #include "lib_errors.h"
 #include "pim_util.h"
 #include "pim6_mld.h"
+#include "pim_autorp.h"
 #include "pim_igmp.h"
 
 #if PIM_IPV == 6
@@ -147,6 +148,11 @@ static int pim_cmd_interface_add(struct interface *ifp)
 	pim_if_membership_refresh(ifp);
 
 	pim_if_create_pimreg(pim_ifp->pim);
+
+#if PIM_IPV == 4
+	pim_autorp_add_ifp(ifp);
+#endif
+
 	return 1;
 }
 
@@ -2680,6 +2686,365 @@ int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp
 	return NB_OK;
 }
 
+/*
+ * XPath: /frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/discovery-enabled
+ */
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_discovery_enabled_modify(
+	struct nb_cb_modify_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	bool enabled;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		enabled = yang_dnode_get_bool(args->dnode, NULL);
+		if (enabled)
+			pim_autorp_start_discovery(pim);
+		else
+			pim_autorp_stop_discovery(pim);
+		break;
+	}
+#endif
+
+	return NB_OK;
+}
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_discovery_enabled_destroy(
+	struct nb_cb_destroy_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	bool enabled;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		enabled = yang_dnode_get_bool(args->dnode, NULL);
+		/* Run AutoRP discovery by default */
+		if (!enabled)
+			pim_autorp_start_discovery(pim);
+		break;
+	}
+#endif
+
+	return NB_OK;
+}
+
+/*
+ * XPath: /frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/announce-scope
+ */
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_scope_modify(
+	struct nb_cb_modify_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	uint8_t scope;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		scope = yang_dnode_get_uint8(args->dnode, NULL);
+		pim_autorp_announce_scope(pim, scope);
+	}
+#endif
+
+	return NB_OK;
+}
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_scope_destroy(
+	struct nb_cb_destroy_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		pim_autorp_announce_scope(pim, 0);
+	}
+#endif
+
+	return NB_OK;
+}
+
+/*
+ * XPath: /frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/announce-interval
+ */
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_interval_modify(
+	struct nb_cb_modify_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	uint16_t interval;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		interval = yang_dnode_get_uint16(args->dnode, NULL);
+		pim_autorp_announce_interval(pim, interval);
+	}
+#endif
+
+	return NB_OK;
+}
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_interval_destroy(
+	struct nb_cb_destroy_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		pim_autorp_announce_interval(pim, 0);
+	}
+#endif
+
+	return NB_OK;
+}
+
+/*
+ * XPath: /frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/announce-holdtime
+ */
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_holdtime_modify(
+	struct nb_cb_modify_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	uint16_t holdtime;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		holdtime = yang_dnode_get_uint16(args->dnode, NULL);
+		pim_autorp_announce_holdtime(pim, holdtime);
+	}
+#endif
+
+	return NB_OK;
+}
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_announce_holdtime_destroy(
+	struct nb_cb_destroy_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		/* 0 is a valid value, so -1 indicates deleting (go back to default) */
+		pim_autorp_announce_holdtime(pim, -1);
+	}
+#endif
+
+	return NB_OK;
+}
+
+/*
+ * XPath: /frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/candidate-rp-list
+ */
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_create(
+	struct nb_cb_create_args *args)
+{
+#if PIM_IPV == 4
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+	case NB_EV_APPLY:
+		break;
+	}
+#endif
+
+	return NB_OK;
+}
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_destroy(
+	struct nb_cb_destroy_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	pim_addr rp_addr;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		yang_dnode_get_pimaddr(&rp_addr, args->dnode, "rp-address");
+		if (!pim_autorp_rm_candidate_rp(pim, rp_addr))
+			return NB_ERR_INCONSISTENCY;
+		break;
+	}
+#endif
+
+	return NB_OK;
+}
+
+/*
+ * XPath: /frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/candidate-rp-list/group
+ */
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_group_modify(
+	struct nb_cb_modify_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	struct prefix group;
+	pim_addr rp_addr;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		yang_dnode_get_pimaddr(&rp_addr, args->dnode, "../rp-address");
+		yang_dnode_get_prefix(&group, args->dnode, NULL);
+		apply_mask(&group);
+		pim_autorp_add_candidate_rp_group(pim, rp_addr, group);
+	}
+#endif
+
+	return NB_OK;
+}
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_group_destroy(
+	struct nb_cb_destroy_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	struct prefix group;
+	pim_addr rp_addr;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		yang_dnode_get_pimaddr(&rp_addr, args->dnode, "../rp-address");
+		yang_dnode_get_prefix(&group, args->dnode, NULL);
+		apply_mask(&group);
+		if (!pim_autorp_rm_candidate_rp_group(pim, rp_addr, group))
+			return NB_ERR_INCONSISTENCY;
+	}
+#endif
+
+	return NB_OK;
+}
+
+/*
+ * XPath: /frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/candidate-rp-list/prefix-list
+ */
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_prefix_list_modify(
+	struct nb_cb_modify_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	pim_addr rp_addr;
+	const char *plist;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		plist = yang_dnode_get_string(args->dnode, NULL);
+		yang_dnode_get_pimaddr(&rp_addr, args->dnode, "../rp-address");
+		pim_autorp_add_candidate_rp_plist(pim, rp_addr, plist);
+	}
+#endif
+
+	return NB_OK;
+}
+int routing_control_plane_protocols_control_plane_protocol_pim_address_family_rp_auto_rp_candidate_rp_list_prefix_list_destroy(
+	struct nb_cb_destroy_args *args)
+{
+#if PIM_IPV == 4
+	struct vrf *vrf;
+	struct pim_instance *pim;
+	pim_addr rp_addr;
+	const char *plist;
+
+	switch (args->event) {
+	case NB_EV_VALIDATE:
+	case NB_EV_PREPARE:
+	case NB_EV_ABORT:
+		break;
+	case NB_EV_APPLY:
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim = vrf->info;
+		yang_dnode_get_pimaddr(&rp_addr, args->dnode, "../rp-address");
+		plist = yang_dnode_get_string(args->dnode, NULL);
+		if (!pim_autorp_rm_candidate_rp_plist(pim, rp_addr, plist))
+			return NB_ERR_INCONSISTENCY;
+		break;
+	}
+#endif
+
+	return NB_OK;
+}
+
 static void yang_addrsel(struct cand_addrsel *addrsel,
 			 const struct lyd_node *node)
 {
diff --git a/pimd/pim_vty.c b/pimd/pim_vty.c
index d5d6fb54d5..b633e81d55 100644
--- a/pimd/pim_vty.c
+++ b/pimd/pim_vty.c
@@ -165,6 +165,11 @@ int pim_debug_config_write(struct vty *vty)
 		++writes;
 	}
 
+	if (PIM_DEBUG_AUTORP) {
+		vty_out(vty, "debug pim autorp\n");
+		++writes;
+	}
+
 	return writes;
 }
 
@@ -182,6 +187,9 @@ int pim_global_config_write_worker(struct pim_instance *pim, struct vty *vty)
 	}
 
 	writes += pim_rp_config_write(pim, vty);
+#if PIM_IPV == 4
+	writes += pim_autorp_config_write(pim, vty);
+#endif
 	writes += pim_cand_config_write(pim, vty);
 
 	if (pim->vrf->vrf_id == VRF_DEFAULT) {
diff --git a/yang/frr-pim-rp.yang b/yang/frr-pim-rp.yang
index 4cc214135d..dbd5513ee5 100644
--- a/yang/frr-pim-rp.yang
+++ b/yang/frr-pim-rp.yang
@@ -111,6 +111,70 @@ module frr-pim-rp {
     } // static-rp
   } // static-rp-container
 
+  grouping auto-rp-container {
+    description
+      "Grouping of AutoRP container.";
+
+    container auto-rp {
+      description
+        "Containing AutoRP attributes.";
+
+      leaf discovery-enabled {
+        type boolean;
+        description
+          "Flag indicating if Auto RP discovery is enabled.";
+      }
+
+      leaf announce-scope {
+        type uint8;
+        description
+          "The TTL of the C-RP Announcement packet.";
+      }
+
+      leaf announce-interval {
+        type uint16;
+        description
+          "The time between sending C-RP announcement packets.";
+      }
+
+      leaf announce-holdtime {
+        type uint16;
+        description
+          "The hold time in seconds advertised in the announcement packet.";
+      }
+
+      list candidate-rp-list {
+        key "rp-address";
+        description
+          "A list of Candidate RP addresses.";
+
+        leaf rp-address {
+          type inet:ip-address;
+          description
+            "Specifies a candidate RP address.";
+        }
+
+        choice group-or-prefix-list {
+          description "Use group or prefix-list";
+          case group {
+            leaf group {
+              type frr-route-types:ip-multicast-group-prefix;
+              description
+                "Multicast group prefix.";
+            }
+          }
+          case prefix-list {
+            leaf prefix-list {
+              type plist-ref;
+              description
+                "Group prefix-list filter";
+            }
+          }
+        }
+      } // candidate-rp-list
+    } // auto-rp
+  } // auto-rp-container
+
   /*
    * Configuration data nodes
    */
@@ -123,6 +187,13 @@ module frr-pim-rp {
       description
         "PIM RP configuration data.";
       uses static-rp-container;
+
+      uses auto-rp-container {
+        when "../frr-pim:address-family = 'frr-rt:ipv4'" {
+          description
+            "Only applicable to IPv4 address family.";
+        }
+      }
     } // rp
   } // augment
 }