diff --git a/doc/user/pimv6.rst b/doc/user/pimv6.rst
index e4e28d71ab..555c830615 100644
--- a/doc/user/pimv6.rst
+++ b/doc/user/pimv6.rst
@@ -103,6 +103,39 @@ PIMv6 Router
    interface will be selected.By default, the highest loopback address is
    selected, which can also be configured via ``loopback``.
 
+.. clicmd:: embedded-rp
+
+   Learn the RP via embedded RP address in multicast group.
+
+   .. note::
+
+      The embedded RP address range is: FF70::/12 (with exception of FFF0::/12).
+
+      Example: FF75:0130:2001:DB8:FFFF::100
+
+      - First byte is always 0xFF
+      - Second byte high nibble is always 7 (signifies RPT bits set)
+      - Second byte low nibble is address scope
+      - Third byte high nibble is zero (reserved)
+      - Third byte low nibble is the RP interface ID (RIID)
+      - Fourth byte is the RP prefix length (must be between 1 and 64)
+      - Fifth byte + RP prefix length is the RP address prefix
+      - Last four bytes are the group ID.
+
+      The RP in the above multicast address sample is:
+      2001:DB8:FFFF::1
+
+.. clicmd:: embedded-rp group-list PREFIX_LIST_NAME
+
+   Restrict the embedded RP prefix range using only the permitted groups
+   provided by the prefix-list.
+
+   This is useful to restrict what RP addresses can be used.
+
+.. clicmd:: embedded-rp limit (1-4294967295)
+
+   Restrict the maximum amount of embedded RPs to learn at same time.
+
 .. clicmd:: spt-switchover infinity-and-beyond [prefix-list PLIST]
 
    On the last hop router if it is desired to not switch over to the SPT tree
diff --git a/pimd/pim6_cmd.c b/pimd/pim6_cmd.c
index f1ebdb554c..12493b7dbb 100644
--- a/pimd/pim6_cmd.c
+++ b/pimd/pim6_cmd.c
@@ -1217,6 +1217,52 @@ DEFPY_ATTR(no_ipv6_pim_rp_prefix_list,
 	return ret;
 }
 
+DEFPY_YANG(pim6_embedded_rp,
+           pim6_embedded_rp_cmd,
+           "[no] embedded-rp",
+           NO_STR
+           PIM_EMBEDDED_RP)
+{
+	char xpath[XPATH_MAXLEN];
+
+	snprintf(xpath, sizeof(xpath), FRR_PIM_EMBEDDED_RP_XPATH);
+	nb_cli_enqueue_change(vty, xpath, no ? NB_OP_DESTROY : NB_OP_MODIFY, "true");
+
+	return nb_cli_apply_changes(vty, NULL);
+}
+
+DEFPY_YANG(pim6_embedded_rp_group_list,
+           pim6_embedded_rp_group_list_cmd,
+           "[no] embedded-rp group-list ![WORD$prefix_list]",
+           NO_STR
+           PIM_EMBEDDED_RP
+           "Configure embedded RP permitted groups\n"
+           "Embedded RP permitted groups\n")
+{
+	char xpath[XPATH_MAXLEN];
+
+	snprintf(xpath, sizeof(xpath), FRR_PIM_EMBEDDED_RP_GROUP_LIST_XPATH);
+	nb_cli_enqueue_change(vty, xpath, no ? NB_OP_DESTROY : NB_OP_MODIFY, prefix_list);
+
+	return nb_cli_apply_changes(vty, NULL);
+}
+
+DEFPY_YANG(pim6_embedded_rp_limit,
+           pim6_embedded_rp_limit_cmd,
+           "[no] embedded-rp limit ![(1-4294967295)$limit]",
+           NO_STR
+           PIM_EMBEDDED_RP
+           "Limit the amount of embedded RPs to learn\n"
+           "Maximum amount of embedded RPs to learn\n")
+{
+	char xpath[XPATH_MAXLEN];
+
+	snprintf(xpath, sizeof(xpath), FRR_PIM_EMBEDDED_RP_MAXIMUM_RPS_XPATH);
+	nb_cli_enqueue_change(vty, xpath, no ? NB_OP_DESTROY : NB_OP_MODIFY, limit_str);
+
+	return nb_cli_apply_changes(vty, NULL);
+}
+
 DEFPY (ipv6_pim_bsm,
        ipv6_pim_bsm_cmd,
        "ipv6 pim bsm",
@@ -2788,6 +2834,11 @@ void pim_cmd_init(void)
 	install_element(PIM6_NODE, &no_pim6_rp_cmd);
 	install_element(PIM6_NODE, &pim6_rp_prefix_list_cmd);
 	install_element(PIM6_NODE, &no_pim6_rp_prefix_list_cmd);
+
+	install_element(PIM6_NODE, &pim6_embedded_rp_cmd);
+	install_element(PIM6_NODE, &pim6_embedded_rp_group_list_cmd);
+	install_element(PIM6_NODE, &pim6_embedded_rp_limit_cmd);
+
 	install_element(PIM6_NODE, &pim6_ssmpingd_cmd);
 	install_element(PIM6_NODE, &no_pim6_ssmpingd_cmd);
 	install_element(PIM6_NODE, &pim6_bsr_candidate_rp_cmd);
diff --git a/pimd/pim6_cmd.h b/pimd/pim6_cmd.h
index 201d8d6bcd..6d0aacf716 100644
--- a/pimd/pim6_cmd.h
+++ b/pimd/pim6_cmd.h
@@ -46,6 +46,7 @@
 #define DEBUG_PIMV6_ZEBRA_STR "ZEBRA protocol activity\n"
 #define DEBUG_MROUTE6_STR "PIMv6 interaction with kernel MFC cache\n"
 #define DEBUG_PIMV6_BSM_STR "BSR message processing activity\n"
+#define PIM_EMBEDDED_RP			"Embedded Rendezvous Point\n"
 
 void pim_cmd_init(void);
 
diff --git a/pimd/pim6_mld.c b/pimd/pim6_mld.c
index 59cd9aea5f..b44169c522 100644
--- a/pimd/pim6_mld.c
+++ b/pimd/pim6_mld.c
@@ -319,6 +319,9 @@ static void gm_expiry_calc(struct gm_query_timers *timers)
 
 static void gm_sg_free(struct gm_sg *sg)
 {
+	if (pim_embedded_rp_is_embedded(&sg->sgaddr.grp))
+		pim_embedded_rp_delete(sg->iface->pim, &sg->sgaddr.grp);
+
 	/* t_sg_expiry is handled before this is reached */
 	EVENT_OFF(sg->t_sg_query);
 	gm_packet_sg_subs_fini(sg->subs_negative);
@@ -415,6 +418,13 @@ static void gm_sg_update(struct gm_sg *sg, bool has_expired)
 		new_join = gm_sg_state_want_join(desired);
 
 	if (new_join && !sg->tib_joined) {
+		pim_addr embedded_rp;
+
+		if (sg->iface->pim->embedded_rp.enable &&
+		    pim_embedded_rp_extract(&sg->sgaddr.grp, &embedded_rp) &&
+		    !pim_embedded_rp_filter_match(sg->iface->pim, &sg->sgaddr.grp))
+			pim_embedded_rp_new(sg->iface->pim, &sg->sgaddr.grp, &embedded_rp);
+
 		/* this will retry if join previously failed */
 		sg->tib_joined = tib_sg_gm_join(gm_ifp->pim, sg->sgaddr,
 						gm_ifp->ifp, &sg->oil);
@@ -434,6 +444,13 @@ static void gm_sg_update(struct gm_sg *sg, bool has_expired)
 	}
 
 	if (desired == GM_SG_NOINFO) {
+		/*
+		 * If oil is still present then get ride of it or we will leak
+		 * this data structure.
+		 */
+		if (sg->oil)
+			pim_channel_oil_del(sg->oil, __func__);
+
 		/* multiple paths can lead to the last state going away;
 		 * t_sg_expire can still be running if we're arriving from
 		 * another path.
diff --git a/pimd/pim_ifchannel.c b/pimd/pim_ifchannel.c
index 8f9e41039a..1791502b94 100644
--- a/pimd/pim_ifchannel.c
+++ b/pimd/pim_ifchannel.c
@@ -208,6 +208,12 @@ void pim_ifchannel_delete(struct pim_ifchannel *ch)
 		zlog_debug("%s: ifchannel entry %s(%s) is deleted ", __func__,
 			   ch->sg_str, ch->interface->name);
 
+#if PIM_IPV == 6
+	/* Embedded RPs learned via PIM join/connected source are freed here */
+	if (pim_embedded_rp_is_embedded(&ch->sg.grp))
+		pim_embedded_rp_delete(pim_ifp->pim, &ch->sg.grp);
+#endif /* PIM_IPV == 6 */
+
 	XFREE(MTYPE_PIM_IFCHANNEL, ch);
 
 	if (up)
diff --git a/pimd/pim_instance.c b/pimd/pim_instance.c
index f7c5ea3bcf..e18ae97d6f 100644
--- a/pimd/pim_instance.c
+++ b/pimd/pim_instance.c
@@ -26,6 +26,8 @@
 
 static void pim_instance_terminate(struct pim_instance *pim)
 {
+	pim->stopping = true;
+
 	pim_vxlan_exit(pim);
 
 	if (pim->ssm_info) {
diff --git a/pimd/pim_instance.h b/pimd/pim_instance.h
index f484d847b2..1b7815d86c 100644
--- a/pimd/pim_instance.h
+++ b/pimd/pim_instance.h
@@ -191,6 +191,24 @@ struct pim_instance {
 	int64_t last_route_change_time;
 
 	uint64_t gm_rx_drop_sys;
+
+	bool stopping;
+
+#if PIM_IPV == 6
+	struct {
+		/** Embedded RP enable state. */
+		bool enable;
+		/** Embedded RP group prefix list. */
+		char *group_list;
+		/** Maximum allowed number of embedded RPs at a time. */
+		uint32_t maximum_rps;
+
+		/** Embedded RP routing table */
+		struct route_table *table;
+		/** Embedded RPs count */
+		size_t rp_count;
+	} embedded_rp;
+#endif /* PIM_IPV == 6 */
 };
 
 void pim_vrf_init(void);
diff --git a/pimd/pim_join.c b/pimd/pim_join.c
index bfdb0f06b4..2feafabb4d 100644
--- a/pimd/pim_join.c
+++ b/pimd/pim_join.c
@@ -42,6 +42,9 @@ static void recv_join(struct interface *ifp, struct pim_neighbor *neigh,
 		      uint8_t source_flags)
 {
 	struct pim_interface *pim_ifp = NULL;
+#if PIM_IPV == 6
+	pim_addr embedded_rp;
+#endif /* PIM_IPV == 6 */
 
 	if (PIM_DEBUG_PIM_J_P)
 		zlog_debug(
@@ -53,6 +56,12 @@ static void recv_join(struct interface *ifp, struct pim_neighbor *neigh,
 	pim_ifp = ifp->info;
 	assert(pim_ifp);
 
+#if PIM_IPV == 6
+	if (pim_ifp->pim->embedded_rp.enable && pim_embedded_rp_extract(&sg->grp, &embedded_rp) &&
+	    !pim_embedded_rp_filter_match(pim_ifp->pim, &sg->grp))
+		pim_embedded_rp_new(pim_ifp->pim, &sg->grp, &embedded_rp);
+#endif /* PIM_IPV == 6 */
+
 	++pim_ifp->pim_ifstat_join_recv;
 
 	/*
diff --git a/pimd/pim_mroute.c b/pimd/pim_mroute.c
index adc47e719d..9d290c3c6f 100644
--- a/pimd/pim_mroute.c
+++ b/pimd/pim_mroute.c
@@ -182,6 +182,14 @@ int pim_mroute_msg_nocache(int fd, struct interface *ifp, const kernmsg *msg)
 		 * so the kernel doesn't keep nagging us.
 		 */
 		struct pim_rpf *rpg;
+#if PIM_IPV == 6
+		pim_addr embedded_rp;
+
+		if (pim_ifp->pim->embedded_rp.enable &&
+		    pim_embedded_rp_extract(&sg.grp, &embedded_rp) &&
+		    !pim_embedded_rp_filter_match(pim_ifp->pim, &sg.grp))
+			pim_embedded_rp_new(pim_ifp->pim, &sg.grp, &embedded_rp);
+#endif /* PIM_IPV == 6 */
 
 		rpg = RP(pim_ifp->pim, msg->msg_im_dst);
 		if (!rpg) {
diff --git a/pimd/pim_nb.c b/pimd/pim_nb.c
index 66001d1463..1dc66be82d 100644
--- a/pimd/pim_nb.c
+++ b/pimd/pim_nb.c
@@ -379,6 +379,25 @@ 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/embedded-rp/enable",
+			.cbs = {
+				.modify = pim_embedded_rp_enable_modify,
+			}
+		},
+		{
+			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/embedded-rp/group-list",
+			.cbs = {
+				.modify = pim_embedded_rp_group_list_modify,
+				.destroy = pim_embedded_rp_group_list_destroy,
+			}
+		},
+		{
+			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/embedded-rp/maximum-rps",
+			.cbs = {
+				.modify = pim_embedded_rp_maximum_rps_modify,
+			}
+		},
 		{
 			.xpath = "/frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/auto-rp/discovery-enabled",
 			.cbs = {
diff --git a/pimd/pim_nb.h b/pimd/pim_nb.h
index befad4efe4..b45af3d589 100644
--- a/pimd/pim_nb.h
+++ b/pimd/pim_nb.h
@@ -159,6 +159,10 @@ 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 pim_embedded_rp_enable_modify(struct nb_cb_modify_args *args);
+int pim_embedded_rp_group_list_modify(struct nb_cb_modify_args *args);
+int pim_embedded_rp_group_list_destroy(struct nb_cb_destroy_args *args);
+int pim_embedded_rp_maximum_rps_modify(struct nb_cb_modify_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(
@@ -286,6 +290,9 @@ 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_EMBEDDED_RP_XPATH	      "./frr-pim-rp:rp/embedded-rp/enable"
+#define FRR_PIM_EMBEDDED_RP_GROUP_LIST_XPATH  "./frr-pim-rp:rp/embedded-rp/group-list"
+#define FRR_PIM_EMBEDDED_RP_MAXIMUM_RPS_XPATH "./frr-pim-rp:rp/embedded-rp/maximum-rps"
 #define FRR_PIM_AUTORP_XPATH "./frr-pim-rp:rp/auto-rp"
 #define FRR_GMP_INTERFACE_XPATH                                         \
 	"./frr-gmp:gmp/address-family[address-family='%s']"
diff --git a/pimd/pim_nb_config.c b/pimd/pim_nb_config.c
index ea8b56fee3..87338f37c0 100644
--- a/pimd/pim_nb_config.c
+++ b/pimd/pim_nb_config.c
@@ -17,6 +17,7 @@
 #include "pim_mlag.h"
 #include "pim_bfd.h"
 #include "pim_msdp_socket.h"
+#include "pimd/pim_rp.h"
 #include "pim_static.h"
 #include "pim_ssm.h"
 #include "pim_ssmpingd.h"
@@ -2684,6 +2685,115 @@ 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/embedded-rp/enable
+ */
+int pim_embedded_rp_enable_modify(struct nb_cb_modify_args *args)
+{
+#if PIM_IPV == 6
+	struct vrf *vrf;
+#endif /* PIM_IPV == 6 */
+
+	switch (args->event) {
+	case NB_EV_APPLY:
+#if PIM_IPV == 6
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim_embedded_rp_enable(vrf->info, yang_dnode_get_bool(args->dnode, NULL));
+		return NB_OK;
+#else
+		snprintf(args->errmsg, args->errmsg_len, "embedded RP is IPv6 only");
+		return NB_ERR;
+#endif /* PIM_IPV == 6 */
+
+	case NB_EV_ABORT:
+	case NB_EV_PREPARE:
+	case NB_EV_VALIDATE:
+	default:
+		return NB_OK;
+	}
+}
+
+/*
+ * XPath: /frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/embedded-rp/group-list
+ */
+int pim_embedded_rp_group_list_modify(struct nb_cb_modify_args *args)
+{
+#if PIM_IPV == 6
+	struct vrf *vrf;
+#endif /* PIM_IPV == 6 */
+
+	switch (args->event) {
+	case NB_EV_APPLY:
+#if PIM_IPV == 6
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim_embedded_rp_set_group_list(vrf->info, yang_dnode_get_string(args->dnode, NULL));
+		return NB_OK;
+#else
+		snprintf(args->errmsg, args->errmsg_len, "embedded RP is IPv6 only");
+		return NB_ERR;
+#endif /* PIM_IPV == 6 */
+
+	case NB_EV_ABORT:
+	case NB_EV_PREPARE:
+	case NB_EV_VALIDATE:
+	default:
+		return NB_OK;
+	}
+}
+
+int pim_embedded_rp_group_list_destroy(struct nb_cb_destroy_args *args)
+{
+#if PIM_IPV == 6
+	struct vrf *vrf;
+#endif /* PIM_IPV == 6 */
+
+	switch (args->event) {
+	case NB_EV_APPLY:
+#if PIM_IPV == 6
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim_embedded_rp_set_group_list(vrf->info, NULL);
+		return NB_OK;
+#else
+		snprintf(args->errmsg, args->errmsg_len, "embedded RP is IPv6 only");
+		return NB_ERR;
+#endif /* PIM_IPV == 6 */
+
+	case NB_EV_ABORT:
+	case NB_EV_PREPARE:
+	case NB_EV_VALIDATE:
+	default:
+		return NB_OK;
+	}
+}
+
+/*
+ * XPath: /frr-routing:routing/control-plane-protocols/control-plane-protocol/frr-pim:pim/address-family/frr-pim-rp:rp/embedded-rp/maximum-rps
+ */
+int pim_embedded_rp_maximum_rps_modify(struct nb_cb_modify_args *args)
+{
+#if PIM_IPV == 6
+	struct vrf *vrf;
+#endif /* PIM_IPV == 6 */
+
+	switch (args->event) {
+	case NB_EV_APPLY:
+#if PIM_IPV == 6
+		vrf = nb_running_get_entry(args->dnode, NULL, true);
+		pim_embedded_rp_set_maximum_rps(vrf->info, yang_dnode_get_uint32(args->dnode, NULL));
+		return NB_OK;
+#else
+		snprintf(args->errmsg, args->errmsg_len, "embedded RP is IPv6 only");
+		return NB_ERR;
+#endif /* PIM_IPV == 6 */
+
+	case NB_EV_ABORT:
+	case NB_EV_PREPARE:
+	case NB_EV_VALIDATE:
+	default:
+		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
  */
diff --git a/pimd/pim_rp.c b/pimd/pim_rp.c
index 0c47bc1582..53d2a2d62e 100644
--- a/pimd/pim_rp.c
+++ b/pimd/pim_rp.c
@@ -115,10 +115,38 @@ void pim_rp_init(struct pim_instance *pim)
 		zlog_debug("Allocated: %p for rp_info: %p(%pFX) Lock: %d", rn,
 			   rp_info, &rp_info->group,
 			   route_node_get_lock_count(rn));
+
+#if PIM_IPV == 6
+	/*
+	 * Embedded RP defaults
+	 */
+	pim->embedded_rp.enable = false;
+	pim->embedded_rp.group_list = NULL;
+	pim->embedded_rp.maximum_rps = PIM_EMBEDDED_RP_MAXIMUM;
+
+	pim->embedded_rp.table = route_table_init();
+#endif /* PIM_IPV == 6 */
 }
 
 void pim_rp_free(struct pim_instance *pim)
 {
+#if PIM_IPV == 6
+	struct route_node *rn;
+
+	pim_embedded_rp_set_group_list(pim, NULL);
+
+	for (rn = route_top(pim->embedded_rp.table); rn; rn = route_next(rn)) {
+		if (rn->info == NULL)
+			continue;
+
+		pim_embedded_rp_free(pim, rn->info);
+		rn->info = NULL;
+	}
+
+	route_table_finish(pim->embedded_rp.table);
+	pim->embedded_rp.table = NULL;
+#endif /* PIM_IPV == 6 */
+
 	if (pim->rp_table)
 		route_table_finish(pim->rp_table);
 	pim->rp_table = NULL;
@@ -216,6 +244,24 @@ struct rp_info *pim_rp_find_match_group(struct pim_instance *pim,
 	const struct prefix_list_entry *entry;
 	struct route_node *rn;
 
+#if PIM_IPV == 6
+	/*
+	 * Embedded RP search. Always try to match against embedded RP first.
+	 */
+	rn = route_node_match(pim->embedded_rp.table, group);
+	if (rn != NULL) {
+		rp_info = rn->info ? rn->info : NULL;
+
+		if (rp_info && PIM_DEBUG_PIM_TRACE_DETAIL) {
+			zlog_debug("Lookedup(%pFX): rn %p found:%pFX", group, rn, &rp_info->group);
+		}
+
+		route_unlock_node(rn);
+		if (rp_info)
+			return rp_info;
+	}
+#endif /* PIM_IPV == 6 */
+
 	bp = NULL;
 	for (ALL_LIST_ELEMENTS_RO(pim->rp_list, node, rp_info)) {
 		if (rp_info->plist) {
@@ -330,9 +376,8 @@ static int pim_rp_check_interface_addrs(struct rp_info *rp_info,
 	if (!pim_addr_cmp(pim_ifp->primary_address, rp_info->rp.rpf_addr))
 		return 1;
 
-	if (!pim_ifp->sec_addr_list) {
+	if (!pim_ifp->sec_addr_list)
 		return 0;
-	}
 
 	for (ALL_LIST_ELEMENTS_RO(pim_ifp->sec_addr_list, node, sec_addr)) {
 		sec_paddr = pim_addr_from_prefix(&sec_addr->addr);
@@ -1203,6 +1248,10 @@ void pim_rp_show_information(struct pim_instance *pim, struct prefix *range,
 			strlcpy(source, "BSR", sizeof(source));
 		else if (rp_info->rp_src == RP_SRC_AUTORP)
 			strlcpy(source, "AutoRP", sizeof(source));
+#if PIM_IPV == 6
+		else if (rp_info->rp_src == RP_SRC_EMBEDDED_RP)
+			strlcpy(source, "Embedded-RP", sizeof(source));
+#endif /* PIM_IPV == 6 */
 		else
 			strlcpy(source, "None", sizeof(source));
 		if (json) {
@@ -1329,3 +1378,208 @@ void pim_resolve_rp_nh(struct pim_instance *pim, struct pim_neighbor *nbr)
 		}
 	}
 }
+
+#if PIM_IPV == 6
+DEFINE_MTYPE_STATIC(PIMD, PIM_EMBEDDED_RP_GROUP_LIST, "PIM embedded RP group list");
+DEFINE_MTYPE_STATIC(PIMD, PIM_EMBEDDED_RP_ENTRY, "PIM embedded RP configuration");
+
+void pim_embedded_rp_enable(struct pim_instance *pim, bool enable)
+{
+	struct route_node *rn;
+
+	pim->embedded_rp.enable = enable;
+	if (enable)
+		return;
+
+	/* Remove all learned embedded RPs and reallocate data structure. */
+	for (rn = route_top(pim->embedded_rp.table); rn; rn = route_next(rn)) {
+		pim_embedded_rp_free(pim, rn->info);
+		rn->info = NULL;
+	}
+	route_table_finish(pim->embedded_rp.table);
+
+	pim->embedded_rp.table = route_table_init();
+}
+
+void pim_embedded_rp_set_group_list(struct pim_instance *pim, const char *group_list)
+{
+	if (pim->embedded_rp.group_list)
+		XFREE(MTYPE_PIM_EMBEDDED_RP_GROUP_LIST, pim->embedded_rp.group_list);
+
+	if (group_list == NULL)
+		return;
+
+	pim->embedded_rp.group_list = XSTRDUP(MTYPE_PIM_EMBEDDED_RP_GROUP_LIST, group_list);
+}
+
+void pim_embedded_rp_set_maximum_rps(struct pim_instance *pim, uint32_t maximum)
+{
+	pim->embedded_rp.maximum_rps = maximum;
+}
+
+bool pim_embedded_rp_filter_match(const struct pim_instance *pim, const pim_addr *group)
+{
+	struct prefix_list *list;
+	struct prefix group_prefix = {
+		.family = PIM_AF,
+		.prefixlen = PIM_MAX_BITLEN,
+		.u.prefix6 = *group,
+	};
+
+	list = prefix_list_lookup(PIM_AFI, pim->embedded_rp.group_list);
+	if (list == NULL)
+		return false;
+
+	if (prefix_list_apply_ext(list, NULL, &group_prefix, true) == PREFIX_DENY) {
+		if (PIM_DEBUG_PIM_TRACE)
+			zlog_debug("filtering embedded-rp group %pPA", group);
+		return true;
+	}
+
+	return false;
+}
+
+bool pim_embedded_rp_is_embedded(const pim_addr *group)
+{
+	/*
+	 * Embedded RP basic format:
+	 * - First byte:         0xFF
+	 * - Third nibble:       0x7 (binary 0111)
+	 * - Fourth nibble:      Scope
+	 * - Fifth nibble:       Reserved (zero)
+	 * - Sixth nibble:       RIID (RP interface ID)
+	 * - Fourth byte:        Prefix length (1..64)
+	 * - Fifth byte and on:  RP address prefix
+	 * - Last four bytes:    Multicast group ID
+	 */
+	if (group->s6_addr[0] != 0xFF)
+		return false;
+	/* Embedded RP flags must all be set. */
+	if ((group->s6_addr[1] & 0xF0) != 0x70)
+		return false;
+	/* Reserved nibble */
+	if ((group->s6_addr[2] & 0xF0) != 0x00)
+		return false;
+	/* RP Interface ID must not be zero */
+	if ((group->s6_addr[2] & 0x0F) == 0x00)
+		return false;
+	/* Prefix length must be between 1 and 64. */
+	if (group->s6_addr[3] == 0 || group->s6_addr[3] > 64)
+		return false;
+
+	return true;
+}
+
+bool pim_embedded_rp_extract(const pim_addr *group, pim_addr *rp)
+{
+	struct prefix prefix;
+
+	if (!pim_embedded_rp_is_embedded(group))
+		return false;
+
+	/* Copy at most the prefix bytes length to RP prefix. */
+	prefix = (struct prefix){
+		.family = PIM_AF,
+		.prefixlen = group->s6_addr[3],
+	};
+	memcpy(&prefix.u.prefix6, &group->s6_addr[4],
+	       (prefix.prefixlen % 8) == 0 ? (prefix.prefixlen / 8) : (prefix.prefixlen / 8) + 1);
+	/* Zero unused address bits. */
+	apply_mask(&prefix);
+
+	/* Return assembled RP address. */
+	*rp = prefix.u.prefix6;
+	rp->s6_addr[15] = group->s6_addr[2] & 0x0F;
+	return true;
+}
+
+void pim_embedded_rp_new(struct pim_instance *pim, const pim_addr *group, const pim_addr *rp)
+{
+	struct route_node *rnode;
+	struct rp_info *rp_info;
+	struct prefix group_prefix = {
+		.family = PIM_AF,
+		.prefixlen = PIM_MAX_BITLEN,
+		.u.prefix6 = *group,
+	};
+
+	rnode = route_node_get(pim->embedded_rp.table, &group_prefix);
+	if (rnode->info != NULL) {
+		route_unlock_node(rnode);
+		return;
+	}
+
+	if (pim->embedded_rp.rp_count >= pim->embedded_rp.maximum_rps) {
+		zlog_info("Embedded RP maximum (%u) has been reached. Disregarding new RP %pPA",
+			  pim->embedded_rp.maximum_rps, rp);
+		route_unlock_node(rnode);
+		return;
+	}
+
+	pim->embedded_rp.rp_count++;
+
+	rnode->info = rp_info = XCALLOC(MTYPE_PIM_EMBEDDED_RP_ENTRY, sizeof(struct rp_info));
+	rp_info->rp.rpf_addr = *rp;
+	prefix_copy(&rp_info->group, &group_prefix);
+	rp_info->rp_src = RP_SRC_EMBEDDED_RP;
+	listnode_add_sort(pim->rp_list, rp_info);
+	if (PIM_DEBUG_TRACE)
+		zlog_debug("add embedded RP %pPA for group %pPA", rp, group);
+
+	/*
+	 * PIM RP regular maintenance
+	 */
+	pim_zebra_update_all_interfaces(pim);
+	pim_rp_check_interfaces(pim, rp_info);
+	if (rp_info->i_am_rp && PIM_DEBUG_PIM_NHT_RP)
+		zlog_debug("new RP %pPA for %pFX is ourselves", &rp_info->rp.rpf_addr,
+			   &rp_info->group);
+
+	pim_rp_refresh_group_to_rp_mapping(pim);
+	if (PIM_DEBUG_PIM_NHT_RP)
+		zlog_debug("%s: NHT Register RP addr %pPA grp %pFX with Zebra", __func__,
+			   &rp_info->rp.rpf_addr, &rp_info->group);
+
+	pim_find_or_track_nexthop(pim, rp_info->rp.rpf_addr, NULL, rp_info, NULL);
+	pim_ecmp_nexthop_lookup(pim, &rp_info->rp.source_nexthop, rp_info->rp.rpf_addr,
+				&rp_info->group, 1);
+}
+
+void pim_embedded_rp_delete(struct pim_instance *pim, const pim_addr *group)
+{
+	struct route_node *rnode;
+	struct prefix group_prefix = {
+		.family = PIM_AF,
+		.prefixlen = PIM_MAX_BITLEN,
+		.u.prefix6 = *group,
+	};
+
+	/* Avoid NULL accesses during shutdown */
+	if (pim->embedded_rp.table == NULL)
+		return;
+
+	rnode = route_node_lookup(pim->embedded_rp.table, &group_prefix);
+	if (rnode == NULL)
+		return;
+
+	pim_embedded_rp_free(pim, rnode->info);
+	rnode->info = NULL;
+
+	/* Unlock twice to remove the node */
+	route_unlock_node(rnode);
+	route_unlock_node(rnode);
+}
+
+void pim_embedded_rp_free(struct pim_instance *pim, struct rp_info *rp_info)
+{
+	if (pim->embedded_rp.rp_count > 0)
+		pim->embedded_rp.rp_count--;
+
+	if (PIM_DEBUG_TRACE)
+		zlog_debug("delete embedded RP %pPA", &rp_info->rp.rpf_addr);
+
+	pim_delete_tracked_nexthop(pim, rp_info->rp.rpf_addr, NULL, rp_info);
+	listnode_delete(pim->rp_list, rp_info);
+	XFREE(MTYPE_PIM_EMBEDDED_RP_ENTRY, rp_info);
+}
+#endif /* PIM_IPV == 6 */
diff --git a/pimd/pim_rp.h b/pimd/pim_rp.h
index 24832d0dbd..9da059f8be 100644
--- a/pimd/pim_rp.h
+++ b/pimd/pim_rp.h
@@ -16,7 +16,15 @@
 
 struct pim_interface;
 
-enum rp_source { RP_SRC_NONE = 0, RP_SRC_STATIC, RP_SRC_BSR, RP_SRC_AUTORP };
+enum rp_source {
+	RP_SRC_NONE = 0,
+	RP_SRC_STATIC,
+	RP_SRC_BSR,
+	RP_SRC_AUTORP,
+#if PIM_IPV == 6
+	RP_SRC_EMBEDDED_RP,
+#endif /* PIM_IPV == 6*/
+};
 
 struct rp_info {
 	struct prefix group;
@@ -26,6 +34,11 @@ struct rp_info {
 	char *plist;
 };
 
+#if PIM_IPV == 6
+/** Default maximum simultaneous embedded RPs at one time. */
+#define PIM_EMBEDDED_RP_MAXIMUM 25
+#endif /* PIM_IPV == 6 */
+
 void pim_rp_init(struct pim_instance *pim);
 void pim_rp_free(struct pim_instance *pim);
 
@@ -69,4 +82,45 @@ struct rp_info *pim_rp_find_match_group(struct pim_instance *pim,
 					const struct prefix *group);
 void pim_upstream_update(struct pim_instance *pim, struct pim_upstream *up);
 void pim_rp_refresh_group_to_rp_mapping(struct pim_instance *pim);
+
+#if PIM_IPV == 6
+/** Check if address has valid embedded RP value. */
+bool pim_embedded_rp_is_embedded(const pim_addr *group) __attribute__((nonnull(1)));
+
+/** Test address against embedded RP group list filter. */
+bool pim_embedded_rp_filter_match(const struct pim_instance *pim, const pim_addr *group)
+	__attribute__((nonnull(1, 2)));
+
+/**
+ * Extract embedded RP address from multicast group.
+ *
+ * Returns true if successful otherwise false.
+ */
+bool pim_embedded_rp_extract(const pim_addr *group, pim_addr *rp) __attribute__((nonnull(1, 2)));
+
+/** Allocate new embedded RP. */
+void pim_embedded_rp_new(struct pim_instance *pim, const pim_addr *group, const pim_addr *rp)
+	__attribute__((nonnull(1, 2, 3)));
+
+/** Remove and free allocated embedded RP. */
+void pim_embedded_rp_delete(struct pim_instance *pim, const pim_addr *group)
+	__attribute__((nonnull(1, 2)));
+
+/** Free memory allocated by embedded RP information. */
+extern void pim_embedded_rp_free(struct pim_instance *pim, struct rp_info *rp_info)
+	__attribute__((nonnull(1, 2)));
+
+/** Toggle embedded RP state. */
+extern void pim_embedded_rp_enable(struct pim_instance *pim, bool enable)
+	__attribute__((nonnull(1)));
+
+/** Configure embedded RP group prefix list. */
+extern void pim_embedded_rp_set_group_list(struct pim_instance *pim, const char *group_list)
+	__attribute__((nonnull(1)));
+
+/** Configure maximum number of embedded RPs to learn. */
+extern void pim_embedded_rp_set_maximum_rps(struct pim_instance *pim, uint32_t maximum)
+	__attribute__((nonnull(1)));
+#endif /* PIM_IPV == 6 */
+
 #endif
diff --git a/pimd/pim_tib.c b/pimd/pim_tib.c
index ac07154f86..e21793b8ca 100644
--- a/pimd/pim_tib.c
+++ b/pimd/pim_tib.c
@@ -115,8 +115,13 @@ bool tib_sg_gm_join(struct pim_instance *pim, pim_sgaddr sg,
 		return false;
 	}
 
-	if (!*oilp)
+	if (!*oilp) {
 		*oilp = tib_sg_oil_setup(pim, sg, oif);
+#if PIM_IPV == 6
+		if (pim_embedded_rp_is_embedded(&sg.grp))
+			(*oilp)->oil_ref_count--;
+#endif /* PIM_IPV == 6 */
+	}
 	if (!*oilp)
 		return false;
 
@@ -176,7 +181,14 @@ void tib_sg_gm_prune(struct pim_instance *pim, pim_sgaddr sg,
 	 Making the call to pim_channel_del_oif and ignoring the return code
 	 fixes the issue without ill effect, similar to
 	 pim_forward_stop below.
+
+	 Also on shutdown when the PIM upstream is removed the channel removal
+	 may have already happened, so just return here instead of trying to
+	 access an invalid pointer.
 	*/
+	if (pim->stopping)
+		return;
+
 	result = pim_channel_del_oif(*oilp, oif, PIM_OIF_FLAG_PROTO_GM,
 				     __func__);
 	if (result) {
diff --git a/pimd/pim_vty.c b/pimd/pim_vty.c
index b633e81d55..4d83593c17 100644
--- a/pimd/pim_vty.c
+++ b/pimd/pim_vty.c
@@ -186,6 +186,23 @@ int pim_global_config_write_worker(struct pim_instance *pim, struct vty *vty)
 		++writes;
 	}
 
+#if PIM_IPV == 6
+	if (pim->embedded_rp.enable) {
+		vty_out(vty, " embedded-rp\n");
+		writes++;
+	}
+
+	if (pim->embedded_rp.maximum_rps != PIM_EMBEDDED_RP_MAXIMUM) {
+		vty_out(vty, " embedded-rp limit %u\n", pim->embedded_rp.maximum_rps);
+		writes++;
+	}
+
+	if (pim->embedded_rp.group_list) {
+		vty_out(vty, " embedded-rp group-list %s\n", pim->embedded_rp.group_list);
+		writes++;
+	}
+#endif /* PIM_IPV == 6 */
+
 	writes += pim_rp_config_write(pim, vty);
 #if PIM_IPV == 4
 	writes += pim_autorp_config_write(pim, vty);
diff --git a/tests/topotests/pim_embedded_rp/__init__.py b/tests/topotests/pim_embedded_rp/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/tests/topotests/pim_embedded_rp/r1/frr.conf b/tests/topotests/pim_embedded_rp/r1/frr.conf
new file mode 100644
index 0000000000..3c712d0f31
--- /dev/null
+++ b/tests/topotests/pim_embedded_rp/r1/frr.conf
@@ -0,0 +1,28 @@
+log commands
+!
+interface r1-eth0
+ ipv6 address 2001:db8:10::1/64
+ ipv6 ospf6 area 0
+ ipv6 ospf6 dead-interval 8
+ ipv6 ospf6 hello-interval 4
+ ipv6 pim
+!
+interface r1-eth1
+ ipv6 address 2001:db8:20::1/64
+ ipv6 ospf6 area 0
+ ipv6 ospf6 dead-interval 8
+ ipv6 ospf6 hello-interval 4
+ ipv6 pim
+!
+interface lo
+ ip address 10.254.254.1/32
+ ipv6 address 2001:db8:ffff::1/128
+ ipv6 ospf6 area 0
+ ipv6 pim
+!
+router ospf6
+ redistribute connected
+!
+router pim6
+ rp 2001:db8:ffff::1
+!
diff --git a/tests/topotests/pim_embedded_rp/r2/frr.conf b/tests/topotests/pim_embedded_rp/r2/frr.conf
new file mode 100644
index 0000000000..ec89874be0
--- /dev/null
+++ b/tests/topotests/pim_embedded_rp/r2/frr.conf
@@ -0,0 +1,39 @@
+log commands
+!
+interface r2-eth0
+ ipv6 address 2001:db8:10::2/64
+ ipv6 ospf6 area 0
+ ipv6 ospf6 dead-interval 8
+ ipv6 ospf6 hello-interval 4
+ ipv6 pim
+!
+interface r2-eth1
+ ipv6 address 2001:db8:30::20/64
+ ipv6 ospf6 area 0
+ ipv6 ospf6 dead-interval 8
+ ipv6 ospf6 hello-interval 4
+ ipv6 pim
+!
+interface r2-eth2
+ ipv6 address 2001:db8:100::1/64
+ ipv6 ospf6 area 0
+ ipv6 mld
+ ipv6 pim
+!
+interface lo
+ ip address 10.254.254.2/32
+ ipv6 address 2001:db8:ffff::2/128
+ ipv6 ospf6 area 0
+ ipv6 pim
+!
+router ospf6
+ redistribute connected
+!
+router pim6
+ embedded-rp
+ embedded-rp limit 3
+ embedded-rp group-list embedded-groups
+!
+! Only permit embedded RPs pointing to r1 or r2 (myself)
+ipv6 prefix-list embedded-groups permit FF75:0130:2001:db8:ffff::/80
+ipv6 prefix-list embedded-groups permit FF75:0230:2001:db8:ffff::/80
diff --git a/tests/topotests/pim_embedded_rp/r3/frr.conf b/tests/topotests/pim_embedded_rp/r3/frr.conf
new file mode 100644
index 0000000000..198c899796
--- /dev/null
+++ b/tests/topotests/pim_embedded_rp/r3/frr.conf
@@ -0,0 +1,34 @@
+log commands
+!
+interface r3-eth0
+ ipv6 address 2001:db8:20::2/64
+ ipv6 ospf6 area 0
+ ipv6 ospf6 dead-interval 8
+ ipv6 ospf6 hello-interval 4
+ ipv6 pim
+!
+interface r3-eth1
+ ipv6 address 2001:db8:30::30/64
+ ipv6 ospf6 area 0
+ ipv6 ospf6 dead-interval 8
+ ipv6 ospf6 hello-interval 4
+ ipv6 pim
+!
+interface r3-eth2
+ ipv6 address 2001:db8:200::1/64
+ ipv6 ospf6 area 0
+ ipv6 mld
+ ipv6 pim
+!
+interface lo
+ ip address 10.254.254.3/32
+ ipv6 address 2001:db8:ffff::3/128
+ ipv6 ospf6 area 0
+ ipv6 pim
+!
+router ospf6
+ redistribute connected
+!
+router pim6
+ embedded-rp
+!
diff --git a/tests/topotests/pim_embedded_rp/test_pim_embedded_rp.py b/tests/topotests/pim_embedded_rp/test_pim_embedded_rp.py
new file mode 100644
index 0000000000..3c9f079900
--- /dev/null
+++ b/tests/topotests/pim_embedded_rp/test_pim_embedded_rp.py
@@ -0,0 +1,264 @@
+#!/usr/bin/env python3
+# SPDX-License-Identifier: ISC
+
+# Copyright (c) 2024 Network Education Foundation, Inc. ("NetDEF")
+#                    Rafael Zalamena
+
+import os
+import sys
+import pytest
+from functools import partial
+
+from lib import topotest
+
+# pylint: disable=C0413
+# Import topogen and topotest helpers
+from lib.topogen import Topogen, get_topogen
+from lib.topolog import logger
+
+from lib.pim import McastTesterHelper
+
+"""
+pim_embedded_rp.py: Test PIM embedded RP functionality.
+"""
+
+# Save the Current Working Directory to find configuration files.
+CWD = os.path.dirname(os.path.realpath(__file__))
+sys.path.append(os.path.join(CWD, "../"))
+
+# Required to instantiate the topology builder class.
+pytestmark = [pytest.mark.pim6d]
+
+
+def build_topo(tgen):
+    tgen.add_router("r1")
+    tgen.add_router("r2")
+    tgen.add_router("r3")
+
+    switch = tgen.add_switch("s1")
+    switch.add_link(tgen.gears["r1"])
+    switch.add_link(tgen.gears["r2"])
+
+    switch = tgen.add_switch("s2")
+    switch.add_link(tgen.gears["r1"])
+    switch.add_link(tgen.gears["r3"])
+
+    switch = tgen.add_switch("s3")
+    switch.add_link(tgen.gears["r2"])
+    switch.add_link(tgen.gears["r3"])
+
+    tgen.add_host("h1", "2001:DB8:100::100", "via 2001:DB8:100::1")
+    tgen.add_host("h2", "2001:DB8:200::100", "via 2001:DB8:200::1")
+
+    switch = tgen.add_switch("s10")
+    switch.add_link(tgen.gears["r2"])
+    switch.add_link(tgen.gears["h1"])
+
+    switch = tgen.add_switch("s20")
+    switch.add_link(tgen.gears["r3"])
+    switch.add_link(tgen.gears["h2"])
+
+
+app_helper = McastTesterHelper()
+
+
+def setup_module(mod):
+    tgen = Topogen(build_topo, mod.__name__)
+    tgen.start_topology()
+
+    router_list = tgen.routers()
+    for _, router in router_list.items():
+        router.load_frr_config(os.path.join(CWD, f"{router.name}/frr.conf"))
+
+    tgen.start_router()
+    app_helper.init(tgen)
+
+
+def teardown_module(mod):
+    tgen = get_topogen()
+    tgen.stop_topology()
+
+
+def test_ospfv3_convergence():
+    "Wait for OSPFv3 protocol convergence"
+    tgen = get_topogen()
+    if tgen.routers_have_failure():
+        pytest.skip(tgen.errors)
+
+    logger.info("waiting for protocols to converge")
+
+    def expect_loopback_route(router, iptype, route, proto):
+        "Wait until route is present on RIB for protocol."
+        logger.info(f"waiting route {route} in {router}")
+        test_func = partial(
+            topotest.router_json_cmp,
+            tgen.gears[router],
+            f"show {iptype} route json",
+            {route: [{"protocol": proto}]},
+        )
+        _, result = topotest.run_and_expect(test_func, None, count=10, wait=8)
+        assert result is None, f'"{router}" convergence failure'
+
+    # Wait for R1
+    expect_loopback_route("r1", "ipv6", "2001:db8:ffff::2/128", "ospf6")
+    expect_loopback_route("r1", "ipv6", "2001:db8:ffff::3/128", "ospf6")
+
+    # Wait for R2
+    expect_loopback_route("r2", "ipv6", "2001:db8:ffff::1/128", "ospf6")
+    expect_loopback_route("r2", "ipv6", "2001:db8:ffff::3/128", "ospf6")
+
+    # Wait for R3
+    expect_loopback_route("r3", "ipv6", "2001:db8:ffff::1/128", "ospf6")
+    expect_loopback_route("r3", "ipv6", "2001:db8:ffff::2/128", "ospf6")
+
+
+def expect_pim_rp(router, rp, group, interface=None, missing=False):
+    "Wait until RP is present."
+    tgen = get_topogen()
+    maximum_wait = 15
+    log_message = f"waiting RP {rp} for {group} in {router}"
+    if missing:
+        log_message += \
+            f" to be missing ({maximum_wait} seconds maximum)"
+
+    logger.info(log_message)
+
+    expected = {rp: [{"group": f"{group}/128"}]}
+    if interface is not None:
+        expected[rp][0]["outboundInterface"] = interface
+
+    test_func = partial(
+        topotest.router_json_cmp,
+        tgen.gears[router],
+        f"show ipv6 pim rp-info json",
+        expected
+    )
+    _, result = topotest.run_and_expect(
+        test_func, None, count=maximum_wait, wait=1)
+    if missing:
+        assert result is not None, f'"{router}" convergence failure'
+    else:
+        assert result is None, f'"{router}" convergence failure'
+
+
+def test_embedded_rp_mld_join():
+    tgen = get_topogen()
+    if tgen.routers_have_failure():
+        pytest.skip(tgen.errors)
+
+    success_group = "ff75:130:2001:db8:ffff::100"
+    filtered_group = "ff75:330:2001:db8:ffff::200"
+    app_helper.run("h1", [success_group, "h1-eth0"])
+    app_helper.run("h1", [filtered_group, "h1-eth0"])
+
+    # Expect first valid join request
+    expect_pim_rp("r2", "2001:db8:ffff::1", success_group, interface="r2-eth0")
+
+    # Expect filtered join request
+    expect_pim_rp("r2", "2001:db8:ffff::2", filtered_group, missing=True)
+
+    # Send over the limit join request
+    groups = [
+        "ff75:130:2001:db8:ffff::300",
+        "ff75:130:2001:db8:ffff::301",
+        "ff75:130:2001:db8:ffff::302",
+    ]
+    for group in groups:
+        app_helper.run("h1", [group, "h1-eth0"])
+        topotest.sleep(2, "Waiting MLD join to be sent")
+
+    expect_pim_rp("r2", "2001:db8:ffff::1", groups[0], interface="r2-eth0")
+    expect_pim_rp("r2", "2001:db8:ffff::1", groups[1], interface="r2-eth0")
+    # Over the limit entry
+    expect_pim_rp("r2", "2001:db8:ffff::1", groups[2], missing=True)
+
+    app_helper.stop_all_hosts()
+
+    # Clean up the embedded RPs so we don't cross the limit next phase
+    tgen.gears["r2"].vtysh_cmd("clear ipv6 mroute")
+
+
+def test_embedded_rp_pim_join():
+    tgen = get_topogen()
+    if tgen.routers_have_failure():
+        pytest.skip(tgen.errors)
+
+    #
+    # Test sending PIM join with embedded RP information to router R2
+    #
+    group = "ff75:230:2001:db8:ffff::400"
+    app_helper.run("h2", [group, "h2-eth0"])
+    expect_pim_rp("r3", "2001:db8:ffff::2", group, interface="r3-eth1")
+    expect_pim_rp("r2", "2001:db8:ffff::2", group, interface="lo")
+
+    app_helper.stop_all_hosts()
+
+
+def test_embedded_rp_spt_switch():
+    tgen = get_topogen()
+    if tgen.routers_have_failure():
+        pytest.skip(tgen.errors)
+
+    # Clean up the embedded RPs so we don't cross the limit next phase
+    tgen.gears["r1"].vtysh_cmd("clear ipv6 mroute")
+    tgen.gears["r2"].vtysh_cmd("clear ipv6 mroute")
+    tgen.gears["r3"].vtysh_cmd("clear ipv6 mroute")
+
+    group = "ff75:130:2001:db8:ffff::500"
+    rp = "2001:db8:ffff::1"
+    source = "2001:db8:100::100"
+
+    # Join from r3 (host h2)
+    app_helper.run("h2", [group, "h2-eth0"])
+    # Wait for embedded RP to show up
+    expect_pim_rp("r3", rp, group, interface="r3-eth0")
+
+    # Send stream from r2 (host h1)
+    app_helper.run("h1", ["--send=0.7", group, "h1-eth0"])
+
+    # Check if R1 has the correct multicast route
+    logger.info("Waiting r1 multicast route installation")
+    test_func = partial(
+        topotest.router_json_cmp,
+        tgen.gears["r1"],
+        f"show ipv6 pim state json",
+        {group: {"*": {}, source: {}}}
+    )
+    _, result = topotest.run_and_expect(test_func, None, count=10, wait=8)
+    assert result is None, '"r1" convergence failure'
+
+    # Check if R2 has the correct multicast route
+    logger.info("Waiting r2 multicast route installation")
+    test_func = partial(
+        topotest.router_json_cmp,
+        tgen.gears["r2"],
+        f"show ipv6 pim state json",
+        {group: {source: {"r2-eth2": {"r2-eth1": {}}}}}
+    )
+    _, result = topotest.run_and_expect(test_func, None, count=10, wait=8)
+    assert result is None, '"r2" convergence failure'
+
+    # Check if R3 has the correct multicast route
+    logger.info("Waiting r3 multicast route installation")
+    test_func = partial(
+        topotest.router_json_cmp,
+        tgen.gears["r3"],
+        f"show ipv6 pim state json",
+        {group: {source: {"r3-eth1": {"r3-eth2": {}}}}}
+    )
+    _, result = topotest.run_and_expect(test_func, None, count=10, wait=8)
+    assert result is None, '"r3" convergence failure'
+
+
+def test_memory_leak():
+    "Run the memory leak test and report results."
+    tgen = get_topogen()
+    if not tgen.is_memleak_enabled():
+        pytest.skip("Memory leak test/report is disabled")
+
+    tgen.report_memory_leaks()
+
+
+if __name__ == "__main__":
+    args = ["-s"] + sys.argv[1:]
+    sys.exit(pytest.main(args))
diff --git a/yang/frr-pim-rp.yang b/yang/frr-pim-rp.yang
index dbd5513ee5..cbc6e87b80 100644
--- a/yang/frr-pim-rp.yang
+++ b/yang/frr-pim-rp.yang
@@ -64,6 +64,14 @@ module frr-pim-rp {
       "RFC XXXX: A YANG Data Model for PIM RP";
   }
 
+  revision 2024-09-26 {
+    description
+      "Add support for embedded RP.";
+    reference
+      "RFC 3956: Embedding the Rendezvous Point (RP) Address in an IPv6
+       Multicast Address";
+  }
+
   typedef plist-ref {
     type string;
   }
@@ -111,6 +119,42 @@ module frr-pim-rp {
     } // static-rp
   } // static-rp-container
 
+  grouping embedded-rp-group {
+    container embedded-rp {
+      description "Embedded RP configurations.";
+
+      leaf enable {
+        description
+          "Toggle embedded RP state:
+
+           When enabled the learned RP from the multicast group address
+           will be preferred over any static or dynamic RP configuration.
+
+           When disabled the packet will be processed as usual.";
+        type boolean;
+        default "false";
+      }
+
+      leaf group-list {
+        description
+          "Restrict embedded RP prefix ranges.
+
+           The default is to treat all multicast groups in FF70::/12
+           range as embedded RP. When a group prefix list is configured
+           and group does not match one of its permit entries it will
+           be treated as regular multicast group.";
+        type plist-ref;
+      }
+
+      leaf maximum-rps {
+        description
+          "Maximum allowed number of RPs to learn.";
+        type uint32;
+        default 25;
+      }
+    } // embedded-rp container
+  } // embedded-rp group
+
   grouping auto-rp-container {
     description
       "Grouping of AutoRP container.";
@@ -194,6 +238,13 @@ module frr-pim-rp {
             "Only applicable to IPv4 address family.";
         }
       }
+
+      uses embedded-rp-group {
+        when "../frr-pim:address-family = 'frr-rt:ipv6'" {
+          description
+            "Only available for IPv6 addresses.";
+        }
+      }
     } // rp
   } // augment
 }