diff --git a/src/lib.rs b/src/lib.rs
index 3b3b69d5285..3eee4fba16e 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -81,6 +81,8 @@ pub mod sys;
 pub mod task;
 #[cfg(not(feature = "riscv-ulp-hal"))]
 pub mod timer;
+#[cfg(all(any(esp32s2, esp32s3), not(feature = "riscv-ulp-hal")))]
+pub mod touch;
 #[cfg(not(feature = "riscv-ulp-hal"))]
 pub mod uart;
 #[cfg(all(
diff --git a/src/touch.rs b/src/touch.rs
new file mode 100644
index 00000000000..ddb00c59bb2
--- /dev/null
+++ b/src/touch.rs
@@ -0,0 +1,132 @@
+use core::borrow::{Borrow, BorrowMut};
+
+use esp_idf_sys::{
+    esp, touch_fsm_mode_t, touch_fsm_mode_t_TOUCH_FSM_MODE_MAX, touch_fsm_mode_t_TOUCH_FSM_MODE_SW,
+    touch_fsm_mode_t_TOUCH_FSM_MODE_TIMER, touch_pad_config, touch_pad_fsm_start,
+    touch_pad_fsm_stop, touch_pad_init, touch_pad_read_raw_data, touch_pad_set_fsm_mode,
+    touch_pad_t, touch_pad_t_TOUCH_PAD_NUM0, touch_pad_t_TOUCH_PAD_NUM1,
+    touch_pad_t_TOUCH_PAD_NUM10, touch_pad_t_TOUCH_PAD_NUM11, touch_pad_t_TOUCH_PAD_NUM12,
+    touch_pad_t_TOUCH_PAD_NUM13, touch_pad_t_TOUCH_PAD_NUM14, touch_pad_t_TOUCH_PAD_NUM2,
+    touch_pad_t_TOUCH_PAD_NUM3, touch_pad_t_TOUCH_PAD_NUM4, touch_pad_t_TOUCH_PAD_NUM5,
+    touch_pad_t_TOUCH_PAD_NUM6, touch_pad_t_TOUCH_PAD_NUM7, touch_pad_t_TOUCH_PAD_NUM8,
+    touch_pad_t_TOUCH_PAD_NUM9, EspError,
+};
+
+#[derive(Copy, Clone)]
+pub enum FsmMode {
+    Timer,
+    SW,
+    Max,
+}
+
+impl From<FsmMode> for touch_fsm_mode_t {
+    fn from(value: FsmMode) -> Self {
+        match value {
+            FsmMode::Timer => touch_fsm_mode_t_TOUCH_FSM_MODE_TIMER,
+            FsmMode::SW => touch_fsm_mode_t_TOUCH_FSM_MODE_SW,
+            FsmMode::Max => touch_fsm_mode_t_TOUCH_FSM_MODE_MAX,
+        }
+    }
+}
+
+#[derive(Copy, Clone)]
+pub enum TouchPad {
+    Pad0,
+    Pad1,
+    Pad2,
+    Pad3,
+    Pad4,
+    Pad5,
+    Pad6,
+    Pad7,
+    Pad8,
+    Pad9,
+    Pad10,
+    Pad11,
+    Pad12,
+    Pad13,
+    Pad14,
+}
+
+impl From<TouchPad> for touch_pad_t {
+    fn from(value: TouchPad) -> Self {
+        match value {
+            TouchPad::Pad0 => touch_pad_t_TOUCH_PAD_NUM0,
+            TouchPad::Pad1 => touch_pad_t_TOUCH_PAD_NUM1,
+            TouchPad::Pad2 => touch_pad_t_TOUCH_PAD_NUM2,
+            TouchPad::Pad3 => touch_pad_t_TOUCH_PAD_NUM3,
+            TouchPad::Pad4 => touch_pad_t_TOUCH_PAD_NUM4,
+            TouchPad::Pad5 => touch_pad_t_TOUCH_PAD_NUM5,
+            TouchPad::Pad6 => touch_pad_t_TOUCH_PAD_NUM6,
+            TouchPad::Pad7 => touch_pad_t_TOUCH_PAD_NUM7,
+            TouchPad::Pad8 => touch_pad_t_TOUCH_PAD_NUM8,
+            TouchPad::Pad9 => touch_pad_t_TOUCH_PAD_NUM9,
+            TouchPad::Pad10 => touch_pad_t_TOUCH_PAD_NUM10,
+            TouchPad::Pad11 => touch_pad_t_TOUCH_PAD_NUM11,
+            TouchPad::Pad12 => touch_pad_t_TOUCH_PAD_NUM12,
+            TouchPad::Pad13 => touch_pad_t_TOUCH_PAD_NUM13,
+            TouchPad::Pad14 => touch_pad_t_TOUCH_PAD_NUM14,
+        }
+    }
+}
+
+pub struct TouchConfig {
+    fsm_mode: FsmMode,
+}
+
+pub struct TouchDriver {
+    config: TouchConfig,
+}
+
+pub struct TouchPadDriver<T>
+where
+    T: BorrowMut<TouchDriver>,
+{
+    _touch: T,
+    pad: TouchPad,
+}
+
+impl TouchPadDriver<TouchDriver> {
+    pub fn new_single_started(pad: TouchPad, config: TouchConfig) -> Result<Self, EspError> {
+        let mut touch = TouchDriver::new(config)?;
+        esp!(unsafe { touch_pad_config(pad.into()) })?;
+        touch.start()?;
+        Ok(Self { _touch: touch, pad })
+    }
+}
+
+impl<T> TouchPadDriver<T>
+where
+    T: BorrowMut<TouchDriver>,
+{
+    pub fn read_raw_data(&self) -> Result<u32, EspError> {
+        let mut raw: u32 = 0;
+        let result = esp!(unsafe { touch_pad_read_raw_data(self.borrow().pad.into(), &mut raw) });
+        result.map(|_| raw)
+    }
+}
+
+impl TouchDriver {
+    pub fn new(config: TouchConfig) -> Result<Self, EspError> {
+        unsafe {
+            esp!(touch_pad_init())?;
+        }
+
+        Ok(TouchDriver { config })
+    }
+
+    pub fn start(&mut self) -> Result<(), EspError> {
+        unsafe {
+            esp!(touch_pad_set_fsm_mode(self.config.fsm_mode.into()))?;
+            esp!(touch_pad_fsm_start())?;
+        }
+
+        Ok(())
+    }
+}
+
+impl Drop for TouchDriver {
+    fn drop(&mut self) {
+        esp!(unsafe { touch_pad_fsm_stop() }).unwrap()
+    }
+}