diff --git a/drivers/usb/dwc3/Kconfig b/drivers/usb/dwc3/Kconfig
index 62aa65bf0cd2..87e19720ab84 100644
--- a/drivers/usb/dwc3/Kconfig
+++ b/drivers/usb/dwc3/Kconfig
@@ -63,6 +63,13 @@ config USB_DWC3_LAYERSCAPE
 	  Host and Peripheral operation modes are supported. OTG is not
 	  supported.
 
+config USB_DWC3_AM62
+	tristate "Texas Instruments AM62 Platforms"
+	depends on ARCH_K3 || COMPILE_TEST
+	default USB_DWC3
+	help
+	  Support of USB2 functionality in TI's AM62 platforms
+
 menu "PHY Subsystem"
 
 config USB_DWC3_PHY_OMAP
diff --git a/drivers/usb/dwc3/Makefile b/drivers/usb/dwc3/Makefile
index 0dd1ba87cd94..26bc3a7379b7 100644
--- a/drivers/usb/dwc3/Makefile
+++ b/drivers/usb/dwc3/Makefile
@@ -7,6 +7,7 @@ dwc3-y					:= core.o
 obj-$(CONFIG_USB_DWC3_GADGET)		+= gadget.o ep0.o
 
 obj-$(CONFIG_USB_DWC3_OMAP)		+= dwc3-omap.o
+obj-$(CONFIG_USB_DWC3_AM62)		+= dwc3-am62.o
 obj-$(CONFIG_USB_DWC3_MESON_G12A)	+= dwc3-meson-g12a.o
 obj-$(CONFIG_USB_DWC3_MESON_GXL)	+= dwc3-meson-gxl.o
 obj-$(CONFIG_USB_DWC3_GENERIC)		+= dwc3-generic.o
diff --git a/drivers/usb/dwc3/dwc3-am62.c b/drivers/usb/dwc3/dwc3-am62.c
new file mode 100644
index 000000000000..a3ad609036e2
--- /dev/null
+++ b/drivers/usb/dwc3/dwc3-am62.c
@@ -0,0 +1,284 @@
+// SPDX-License-Identifier: GPL-2.0
+/*
+ * dwc3-am62.c - TI specific Glue layer for AM62 DWC3 USB Controller
+ *
+ * Copyright (C) 2021 Texas Instruments Incorporated - https://www.ti.com
+ */
+
+#include <common.h>
+#include <asm-generic/io.h>
+#include <clk.h>
+#include <dm.h>
+#include <dm/device_compat.h>
+#include <linux/bitops.h>
+#include <linux/io.h>
+#include <syscon.h>
+#include <malloc.h>
+#include <usb.h>
+#include <usb/xhci.h>
+#include <linux/usb/ch9.h>
+#include <linux/usb/gadget.h>
+#include <regmap.h>
+#include <linux/usb/otg.h>
+#include <dm/lists.h>
+
+/* USB WRAPPER register offsets */
+#define USBSS_PID			0x0
+#define USBSS_OVERCURRENT_CTRL		0x4
+#define USBSS_PHY_CONFIG		0x8
+#define USBSS_PHY_TEST			0xc
+#define USBSS_CORE_STAT			0x14
+#define USBSS_HOST_VBUS_CTRL		0x18
+#define USBSS_MODE_CONTROL		0x1c
+#define USBSS_WAKEUP_CONFIG		0x30
+#define USBSS_WAKEUP_STAT		0x34
+#define USBSS_OVERRIDE_CONFIG		0x38
+#define USBSS_IRQ_MISC_STATUS_RAW	0x430
+#define USBSS_IRQ_MISC_STATUS		0x434
+#define USBSS_IRQ_MISC_ENABLE_SET	0x438
+#define USBSS_IRQ_MISC_ENABLE_CLR	0x43c
+#define USBSS_IRQ_MISC_EOI		0x440
+#define USBSS_INTR_TEST			0x490
+#define USBSS_VBUS_FILTER		0x614
+#define USBSS_VBUS_STAT			0x618
+#define USBSS_DEBUG_CFG			0x708
+#define USBSS_DEBUG_DATA		0x70c
+#define USBSS_HOST_HUB_CTRL		0x714
+
+/* PHY CONFIG register bits */
+#define USBSS_PHY_VBUS_SEL_MASK		GENMASK(2, 1)
+#define USBSS_PHY_VBUS_SEL_SHIFT	1
+#define USBSS_PHY_LANE_REVERSE		BIT(0)
+
+/* MODE CONTROL register bits */
+#define USBSS_MODE_VALID	BIT(0)
+
+/* IRQ_MISC_STATUS_RAW register bits */
+#define USBSS_IRQ_MISC_RAW_VBUSVALID	BIT(22)
+#define USBSS_IRQ_MISC_RAW_SESSVALID	BIT(20)
+
+/* IRQ_MISC_STATUS register bits */
+#define USBSS_IRQ_MISC_VBUSVALID	BIT(22)
+#define USBSS_IRQ_MISC_SESSVALID	BIT(20)
+
+/* IRQ_MISC_ENABLE_SET register bits */
+#define USBSS_IRQ_MISC_ENABLE_SET_VBUSVALID	BIT(22)
+#define USBSS_IRQ_MISC_ENABLE_SET_SESSVALID	BIT(20)
+
+/* IRQ_MISC_ENABLE_CLR register bits */
+#define USBSS_IRQ_MISC_ENABLE_CLR_VBUSVALID	BIT(22)
+#define USBSS_IRQ_MISC_ENABLE_CLR_SESSVALID	BIT(20)
+
+/* VBUS_STAT register bits */
+#define USBSS_VBUS_STAT_SESSVALID	BIT(2)
+#define USBSS_VBUS_STAT_VBUSVALID	BIT(0)
+
+/* Mask for PHY PLL REFCLK */
+#define PHY_PLL_REFCLK_MASK	GENMASK(3, 0)
+
+struct dwc3_data {
+	struct udevice *dev;
+	void __iomem *usbss;
+	struct regmap *syscon;
+	unsigned int offset;
+	unsigned int vbus_divider;
+};
+
+static inline u32 dwc3_ti_readl(struct dwc3_data *data, u32 offset)
+{
+	return readl(data->usbss + offset);
+}
+
+static inline void dwc3_ti_writel(struct dwc3_data *data, u32 offset, u32 value)
+{
+	writel(value, data->usbss + offset);
+}
+
+static const int dwc3_ti_rate_table[] = {	/* in KHZ */
+	9600,
+	10000,
+	12000,
+	19200,
+	20000,
+	24000,
+	25000,
+	26000,
+	38400,
+	40000,
+	58000,
+	50000,
+	52000,
+};
+
+static int phy_syscon_pll_refclk(struct dwc3_data *data, int rate_code)
+{
+	struct udevice *dev = data->dev;
+	struct ofnode_phandle_args args;
+	ofnode node = dev_ofnode(dev);
+	struct regmap *syscon;
+	int ret;
+
+	syscon = syscon_regmap_lookup_by_phandle(dev, "ti,syscon-phy-pll-refclk");
+	if (IS_ERR(syscon)) {
+		dev_err(dev, "unable to get ti,syscon-phy-pll-refclk regmap\n");
+		return PTR_ERR(syscon);
+	}
+
+	data->syscon = syscon;
+
+	ret = ofnode_parse_phandle_with_args(node, "ti,syscon-phy-pll-refclk", NULL, 1,
+					     0, &args);
+	if (ret)
+		return ret;
+
+	data->offset = args.args[0];
+
+	/* Program PHY PLL refclk by reading syscon property */
+	ret = regmap_update_bits(data->syscon, data->offset, PHY_PLL_REFCLK_MASK, rate_code);
+	if (ret) {
+		dev_err(dev, "failed to set phy pll reference clock rate\n");
+		return ret;
+	}
+
+	return 0;
+}
+
+static int dwc3_ti_bind(struct udevice *parent)
+{
+	ofnode node;
+	const char *name = ofnode_get_name(node);
+	enum usb_dr_mode dr_mode;
+	struct udevice *dev;
+	const char *driver = NULL;
+	int ret;
+
+	node = ofnode_by_compatible(dev_ofnode(parent), "snps,dwc3");
+	if (!ofnode_valid(node)) {
+		ret = -ENODEV;
+		return 0;
+	}
+
+	name = ofnode_get_name(node);
+	dr_mode = usb_get_dr_mode(node);
+	debug("%s: subnode name: %s\n", __func__, name);
+
+	switch (dr_mode) {
+	case USB_DR_MODE_PERIPHERAL:
+	case USB_DR_MODE_OTG:
+#if CONFIG_IS_ENABLED(DM_USB_GADGET)
+		debug("%s: dr_mode: OTG or Peripheral\n", __func__);
+		driver = "dwc3-generic-peripheral";
+#endif
+		break;
+#if defined(CONFIG_SPL_USB_HOST) || !defined(CONFIG_SPL_BUILD)
+	case USB_DR_MODE_HOST:
+		debug("%s: dr_mode: HOST\n", __func__);
+		driver = "dwc3-generic-host";
+		break;
+#endif
+	default:
+		debug("%s: unsupported dr_mode\n", __func__);
+		return -ENODEV;
+	};
+
+	if (!driver)
+		return 0;
+
+	ret = device_bind_driver_to_node(parent, driver, name,
+					 node, &dev);
+	if (ret) {
+		debug("%s: not able to bind usb device mode\n",
+		      __func__);
+		return ret;
+	}
+
+	return 0;
+}
+
+static int dwc3_ti_probe(struct udevice *dev)
+{
+	struct dwc3_data *data = dev_get_plat(dev);
+	struct clk usb2_refclk;
+	int rate_code, i, ret;
+	unsigned long rate;
+	u32 reg;
+
+	data->dev = dev;
+
+	data->usbss = dev_remap_addr_index(dev, 0);
+	if (IS_ERR(data->usbss)) {
+		dev_err(dev, "can't map IOMEM resource\n");
+		return PTR_ERR(data->usbss);
+	}
+
+	ret = clk_get_by_name(dev, "ref", &usb2_refclk);
+	if (ret) {
+		dev_err(dev, "can't get usb2_refclk\n");
+		return ret;
+	}
+
+	/* Calcuate the rate code */
+	rate = clk_get_rate(&usb2_refclk);
+	rate /= 1000;	/* To KHz */
+	for (i = 0; i < ARRAY_SIZE(dwc3_ti_rate_table); i++) {
+		if (dwc3_ti_rate_table[i] == rate)
+			break;
+	}
+
+	if (i == ARRAY_SIZE(dwc3_ti_rate_table)) {
+		dev_err(dev, "unsupported usb2_refclk rate: %lu KHz\n", rate);
+		return -EINVAL;
+	}
+
+	rate_code = i;
+
+	/* Read the syscon property */
+	ret = phy_syscon_pll_refclk(data, rate_code);
+	if (ret)
+		return ret;
+
+	/* VBUS divider select */
+	reg = dwc3_ti_readl(data, USBSS_PHY_CONFIG);
+	data->vbus_divider = dev_read_bool(dev, "ti,vbus-divider");
+	if (data->vbus_divider)
+		reg |= 1 << USBSS_PHY_VBUS_SEL_SHIFT;
+
+	dwc3_ti_writel(data, USBSS_PHY_CONFIG, reg);
+
+	/* Set mode valid */
+	reg = dwc3_ti_readl(data, USBSS_MODE_CONTROL);
+	reg |= USBSS_MODE_VALID;
+	dwc3_ti_writel(data, USBSS_MODE_CONTROL, reg);
+
+	return 0;
+}
+
+/* work queue not required to cancel separately as auto cancel API was used*/
+static int dwc3_ti_remove(struct udevice *dev)
+{
+	struct dwc3_data *data = dev_get_plat(dev);
+	u32 reg;
+
+	/* Clear mode valid */
+	reg = dwc3_ti_readl(data, USBSS_MODE_CONTROL);
+	reg &= ~USBSS_MODE_VALID;
+	dwc3_ti_writel(data, USBSS_MODE_CONTROL, reg);
+
+	return 0;
+}
+
+static const struct udevice_id dwc3_ti_of_match[] = {
+	{ .compatible = "ti,am62-usb", },
+	{},
+};
+
+U_BOOT_DRIVER(dwc3_ti) = {
+	.name = "dwc3-ti",
+	.id = UCLASS_NOP,
+	.of_match = dwc3_ti_of_match,
+	.bind = dwc3_ti_bind,
+	.probe = dwc3_ti_probe,
+	.remove = dwc3_ti_remove,
+	.plat_auto = sizeof(struct dwc3_data),
+	.flags = DM_FLAG_OS_PREPARE,
+};
