diff --git a/samples/sensor/lsm6dso_i2c_on_i3c/CMakeLists.txt b/samples/sensor/lsm6dso_i2c_on_i3c/CMakeLists.txt
new file mode 100644
index 00000000000..e8d59f2305d
--- /dev/null
+++ b/samples/sensor/lsm6dso_i2c_on_i3c/CMakeLists.txt
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(lsm6dso_i2c_on_i3c)
+
+FILE(GLOB app_sources ../lsm6dso/src/*.c)
+target_sources(app PRIVATE ${app_sources})
diff --git a/samples/sensor/lsm6dso_i2c_on_i3c/README.rst b/samples/sensor/lsm6dso_i2c_on_i3c/README.rst
new file mode 100644
index 00000000000..eb449879638
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+++ b/samples/sensor/lsm6dso_i2c_on_i3c/README.rst
@@ -0,0 +1,78 @@
+.. _lsm6dso_i2c_on_i3c:
+
+LSM6DSO: IMU Sensor Monitor (I2C on I3C bus)
+############################################
+
+Overview
+********
+This sample sets the date rate of LSM6DSO accelerometer and gyroscope to
+12.5Hz and enables a trigger on data ready. It displays on the console
+the values for accelerometer and gyroscope.
+
+Requirements
+************
+
+This sample uses the LSM6DSO sensor controlled using the I2C interface
+exposed by the I3C controller. It has been tested using the LSM6DSO on
+the evaluation board STEVAL-MKI196V1 connected to the I3C header
+on :ref:`mimxrt685_evk`.
+
+References
+**********
+
+- LSM6DSO http://www.st.com/en/mems-and-sensors/lsm6dso.html
+
+Building and Running
+********************
+
+This project outputs sensor data to the console. It requires an LSM6DSO
+sensor (for example, the one on evaluation board STEVAL-MKI196V1).
+
+Building on mimxrt685_evk_cm33 board
+====================================
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/sensor/lsm6dso_i2c_on_i3c
+   :host-os: unix
+   :board: mimxrt685_evk_cm33
+   :goals: build
+   :compact:
+
+Board Preparations
+==================
+
+mimxrt685_evk_cm33
+------------------
+
+On the board :ref:`mimxrt685_evk`, the I3C pins are exposed on the J18
+header, where:
+
+  * SCL is on pin 1
+  * SDA is on pin 2
+  * Internal pull-up is on pin 3 (which is connected to pin 2 already)
+  * Ground is on pin4
+
+LSM6DSO
+^^^^^^^
+
+A LSM6DSO sensor needs to be connected to this header. For example,
+the evaluation board STEVAL-MKI196V1 can be used. This needs to be
+prepared so that the LSM6DSO sensor has address 0x6B (i.e. 0xD6,
+left-shifed).
+
+Sample Output
+=============
+
+.. code-block:: console
+
+    Testing LSM6DSO sensor in trigger mode.
+
+    accel x:-0.650847 ms/2 y:-5.300102 ms/2 z:-8.163114 ms/2
+    gyro x:-0.167835 dps y:-0.063377 dps z:0.002367 dps
+    trig_cnt:1
+
+    accel x:0.341575 ms/2 y:5.209773 ms/2 z:-7.938787 ms/2
+    gyro x:-0.034284 dps y:-0.004428 dps z:-0.003512 dps
+    trig_cnt:2
+
+    <repeats endlessly>
diff --git a/samples/sensor/lsm6dso_i2c_on_i3c/boards/mimxrt685_evk_cm33.conf b/samples/sensor/lsm6dso_i2c_on_i3c/boards/mimxrt685_evk_cm33.conf
new file mode 100644
index 00000000000..4256bd1d958
--- /dev/null
+++ b/samples/sensor/lsm6dso_i2c_on_i3c/boards/mimxrt685_evk_cm33.conf
@@ -0,0 +1,4 @@
+# Requires GPIO lines for interrupts,
+# so disable trigger mode and use polling mode for now.
+CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD=n
+CONFIG_LSM6DSO_TRIGGER_NONE=y
diff --git a/samples/sensor/lsm6dso_i2c_on_i3c/boards/mimxrt685_evk_cm33.overlay b/samples/sensor/lsm6dso_i2c_on_i3c/boards/mimxrt685_evk_cm33.overlay
new file mode 100644
index 00000000000..68087d8e2a9
--- /dev/null
+++ b/samples/sensor/lsm6dso_i2c_on_i3c/boards/mimxrt685_evk_cm33.overlay
@@ -0,0 +1,24 @@
+&i3c0 {
+	status = "okay";
+
+	/*
+	 * There might be other connected I2C devices
+	 * (for example, if using Arduino shield) which
+	 * cannot tolerate high clock speed. So slow
+	 * down the clock.
+	 */
+	i2c-scl-hz = <400000>;
+	i3c-scl-hz = <400000>;
+	i3c-od-scl-hz = <400000>;
+
+	clk-divider = <12>;
+	clk-divider-slow = <1>;
+	clk-divider-tc = <1>;
+
+	lsm6dso0: lsm6dso@6b0000000000000050 {
+		compatible = "st,lsm6dso";
+		reg = <0x6b 0x00 0x50>;
+
+		status = "okay";
+	};
+};
diff --git a/samples/sensor/lsm6dso_i2c_on_i3c/prj.conf b/samples/sensor/lsm6dso_i2c_on_i3c/prj.conf
new file mode 100644
index 00000000000..ff3cf22cc85
--- /dev/null
+++ b/samples/sensor/lsm6dso_i2c_on_i3c/prj.conf
@@ -0,0 +1,7 @@
+CONFIG_STDOUT_CONSOLE=y
+CONFIG_CBPRINTF_FP_SUPPORT=y
+
+CONFIG_I3C=y
+CONFIG_SENSOR=y
+
+CONFIG_LSM6DSO_TRIGGER_GLOBAL_THREAD=y
diff --git a/samples/sensor/lsm6dso_i2c_on_i3c/sample.yaml b/samples/sensor/lsm6dso_i2c_on_i3c/sample.yaml
new file mode 100644
index 00000000000..02ef4aa90f8
--- /dev/null
+++ b/samples/sensor/lsm6dso_i2c_on_i3c/sample.yaml
@@ -0,0 +1,17 @@
+sample:
+  name: LSM6DSO accelerometer and gyrometer sensor (I2C on I3C bus)
+tests:
+  sample.sensor.lsm6dso.i2c_on_i3c_bus:
+    harness: console
+    tags: sensors
+    depends_on: i3c
+    filter: dt_compat_enabled("st,lsm6dso")
+    timeout: 15
+    build_only: true
+    harness_config:
+      type: multi_line
+      ordered: true
+      regex:
+        - "accel x:[-.0-9]* ms/2 y:[-.0-9]* ms/2 z:[-.0-9]* ms/2"
+        - "gyro x:[-.0-9]* dps y:[-.0-9]* dps z:[-.0-9]* dps"
+        - "trig_cnt:[0-9]*"