diff --git a/doc/board/ti/j721s2_evm.rst b/doc/board/ti/j721s2_evm.rst
new file mode 100644
index 000000000000..6b091ad37578
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+++ b/doc/board/ti/j721s2_evm.rst
@@ -0,0 +1,298 @@
+.. SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
+.. sectionauthor:: Manorit Chawdhry <m-chawdhry@ti.com>
+
+J721S2 and AM68 Platforms
+=========================
+
+Introduction:
+-------------
+The J721S2 family of SoCs are part of K3 Multicore SoC architecture platform
+targeting automotive applications. They are designed as a low power, high
+performance and highly integrated device architecture, adding significant
+enhancement on processing power, graphics capability, video and imaging
+processing, virtualization and coherent memory support.
+
+The AM68 Starter Kit/Evaluation Module (EVM) is based on the J721S2 family
+of SoCs. They are designed for machine vision, traffic monitoring, retail
+automation, and factory automation.
+
+The device is partitioned into three functional domains, each containing
+specific processing cores and peripherals:
+
+1. Wake-up (WKUP) domain:
+        * ARM Cortex-M4F processor, runs TI Foundational Security (TIFS)
+
+2. Microcontroller (MCU) domain:
+        * Dual core ARM Cortex-R5F processor, runs device management
+          and SoC early boot
+
+3. MAIN domain:
+        * Dual core 64-bit ARM Cortex-A72, runs HLOS
+
+More info can be found in TRM: https://www.ti.com/lit/pdf/spruj28
+
+Platform information:
+
+* https://www.ti.com/tool/J721S2XSOMXEVM
+* https://www.ti.com/tool/SK-AM68
+
+Boot Flow:
+----------
+Below is the pictorial representation of boot flow:
+
+.. image:: img/boot_diagram_k3_current.svg
+
+- On this platform, "TI Foundational Security" (TIFS) functions as the
+  security enclave master while "Device Manager" (DM), also known as the
+  "TISCI server" in TI terminology, offers all the essential services.
+
+- As illustrated in the diagram above, R5 SPL manages power and clock
+  services independently before handing over control to "DM". The A72 or
+  the C7x (Aux core) software components request TIFS/DM to handle
+  security or device management services.
+
+Sources:
+--------
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_boot_sources
+    :end-before: .. k3_rst_include_end_boot_sources
+
+Build procedure:
+----------------
+0. Setup the environment variables:
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_desc
+    :end-before: .. k3_rst_include_end_common_env_vars_desc
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_board_env_vars_desc
+    :end-before: .. k3_rst_include_end_board_env_vars_desc
+
+Set the variables corresponding to this platform:
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_common_env_vars_defn
+    :end-before: .. k3_rst_include_end_common_env_vars_defn
+.. code-block:: bash
+
+ $ export UBOOT_CFG_CORTEXR=j721s2_evm_r5_defconfig
+ $ export UBOOT_CFG_CORTEXA=j721s2_evm_a72_defconfig
+ $ export TFA_BOARD=generic
+ $ export TFA_EXTRA_ARGS="K3_USART=0x8"
+ $ # The following is not a typo, j784s4 is the OP-TEE platform for j721s2
+ $ export OPTEE_PLATFORM=k3-j784s4
+ $ export OPTEE_EXTRA_ARGS="CFG_CONSOLE_UART=0x8"
+
+.. j721s2_evm_rst_include_start_build_steps
+
+1. Trusted Firmware-A:
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_tfa
+    :end-before: .. k3_rst_include_end_build_steps_tfa
+
+
+2. OP-TEE:
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_optee
+    :end-before: .. k3_rst_include_end_build_steps_optee
+
+3. U-Boot:
+
+.. _j721s2_evm_rst_u_boot_r5:
+
+* 3.1 R5:
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_spl_r5
+    :end-before: .. k3_rst_include_end_build_steps_spl_r5
+
+.. _j721s2_evm_rst_u_boot_a72:
+
+* 3.2 A72:
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_build_steps_uboot
+    :end-before: .. k3_rst_include_end_build_steps_uboot
+.. j721s2_evm_rst_include_end_build_steps
+
+Target Images
+--------------
+In order to boot we need tiboot3.bin, tispl.bin and u-boot.img. Each SoC
+variant (GP, HS-FS, HS-SE) requires a different source for these files.
+
+ - GP
+
+        * tiboot3-j721s2-gp-evm.bin from :ref:`step 3.1 <j721s2_evm_rst_u_boot_r5>`
+        * tispl.bin_unsigned, u-boot.img_unsigned from :ref:`step 3.2 <j721s2_evm_rst_u_boot_a72>`
+
+ - HS-FS
+
+        * tiboot3-j721s2-hs-fs-evm.bin from :ref:`step 3.1 <j721s2_evm_rst_u_boot_r5>`
+        * tispl.bin, u-boot.img from :ref:`step 3.2 <j721s2_evm_rst_u_boot_a72>`
+
+ - HS-SE
+
+        * tiboot3-j721s2-hs-evm.bin from :ref:`step 3.1 <j721s2_evm_rst_u_boot_r5>`
+        * tispl.bin, u-boot.img from :ref:`step 3.2 <j721s2_evm_rst_u_boot_a72>`
+
+Image formats:
+--------------
+
+- tiboot3.bin
+
+.. image:: img/multi_cert_tiboot3.bin.svg
+
+- tispl.bin
+
+.. image:: img/dm_tispl.bin.svg
+
+R5 Memory Map:
+--------------
+
+.. list-table::
+   :widths: 16 16 16
+   :header-rows: 1
+
+   * - Region
+     - Start Address
+     - End Address
+
+   * - SPL
+     - 0x41c00000
+     - 0x41c40000
+
+   * - EMPTY
+     - 0x41c40000
+     - 0x41c61f20
+
+   * - STACK
+     - 0x41c65f20
+     - 0x41c61f20
+
+   * - Global data
+     - 0x41c65f20
+     - 0x41c66000
+
+   * - Heap
+     - 0x41c66000
+     - 0x41c76000
+
+   * - BSS
+     - 0x41c76000
+     - 0x41c80000
+
+   * - DM DATA
+     - 0x41c80000
+     - 0x41c84130
+
+   * - EMPTY
+     - 0x41c84130
+     - 0x41cff9fc
+
+   * - MCU Scratchpad
+     - 0x41cff9fc
+     - 0x41cffbfc
+
+   * - ROM DATA
+     - 0x41cffbfc
+     - 0x41cfffff
+
+Switch Setting for Boot Mode
+----------------------------
+
+Boot Mode pins provide means to select the boot mode and options before the
+device is powered up. After every POR, they are the main source to populate
+the Boot Parameter Tables.
+
+Boot Mode Pins for J721S2
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+The following table shows some common boot modes used on J721S2 platform.
+More details can be found in the Technical Reference Manual:
+https://www.ti.com/lit/pdf/spruj28 under the `Boot Mode Pins` section.
+
+.. list-table:: Boot Modes
+   :widths: 16 16 16
+   :header-rows: 1
+
+   * - Switch Label
+     - SW9: 12345678
+     - SW8: 12345678
+
+   * - SD
+     - 00000000
+     - 10000010
+
+   * - EMMC
+     - 01000000
+     - 10000000
+
+   * - OSPI
+     - 01000000
+     - 00000110
+
+   * - UART
+     - 01110000
+     - 00000000
+
+   * - USB DFU
+     - 00100000
+     - 10000000
+
+For SW8 and SW9, the switch state in the "ON" position = 1.
+
+Boot Mode Pins for AM68
+^^^^^^^^^^^^^^^^^^^^^^^
+
+The following table shows some common boot modes used on AM68-SK platform.
+More details can be found in the User Guide for AM68-SK:
+https://www.ti.com/pdf/spruj68 under the `Bootmode Settings` section.
+
+.. list-table:: Boot Modes
+   :widths: 16 16
+   :header-rows: 1
+
+   * - Switch Label
+     - SW1: 1234
+
+   * - SD
+     - 0000
+
+   * - xSPI
+     - 0010
+
+   * - UART
+     - 1010
+
+   * - Ethernet
+     - 0100
+
+For SW1, the switch state in the "ON" position = 1.
+
+Debugging U-Boot
+----------------
+
+See :ref:`Common Debugging environment - OpenOCD<k3_rst_refer_openocd>`: for
+detailed setup information.
+
+.. warning::
+
+  **OpenOCD support since**: v0.12.0
+
+  If the default package version of OpenOCD in your development
+  environment's distribution needs to be updated, it might be necessary to
+  build OpenOCD from the source.
+
+.. include::  k3.rst
+    :start-after: .. k3_rst_include_start_openocd_connect_XDS110
+    :end-before: .. k3_rst_include_end_openocd_connect_XDS110
+
+To start OpenOCD and connect to the board
+
+.. code-block:: bash
+
+  openocd -f board/ti_j721s2evm.cfg
diff --git a/doc/board/ti/k3.rst b/doc/board/ti/k3.rst
index 5f9bd4dfcbe9..423d55526dc5 100644
--- a/doc/board/ti/k3.rst
+++ b/doc/board/ti/k3.rst
@@ -36,6 +36,7 @@ K3 Based SoCs
    am65x_evm
    j7200_evm
    j721e_evm
+   j721s2_evm
 
 Boot Flow Overview
 ------------------
