diff --git a/boards/arm/mr_canhubk3/doc/index.rst b/boards/arm/mr_canhubk3/doc/index.rst
index bbdfd79c3ec034..9de092bf0b7e54 100644
--- a/boards/arm/mr_canhubk3/doc/index.rst
+++ b/boards/arm/mr_canhubk3/doc/index.rst
@@ -51,6 +51,7 @@ SIUL2         on-chip     | pinctrl
 LPUART        on-chip     serial
 QSPI          on-chip     flash
 FLEXCAN       on-chip     can
+LPI2C         on-chip     i2c
 ============  ==========  ================================
 
 The default configuration can be found in the Kconfig file
@@ -175,6 +176,21 @@ flexcan5         | 8 bytes   | 32 MBs          | 32 MBs
    accomplished using one of the included CAN termination boards. For more details, refer
    to the section ``6.3 CAN Connectors`` in the Hardware User Manual of `NXP MR-CANHUBK3`_.
 
+I2C
+===
+
+I2C is provided through LPI2C interface with 2 instances ``lpi2c0`` and ``lpi2c1``
+on corresponding connectors ``P4``, ``P3``.
+
+=========  =====  ============
+Connector  Pin    Pin Function
+=========  =====  ============
+P3.2       PTD9   LPI2C1_SCL
+P3.3       PTD8   LPI2C1_SDA
+P4.3       PTD14  LPI2C0_SCL
+P4.4       PTD13  LPI2C0_SDA
+=========  =====  ============
+
 FS26 SBC Watchdog
 =================
 
diff --git a/boards/arm/mr_canhubk3/mr_canhubk3-pinctrl.dtsi b/boards/arm/mr_canhubk3/mr_canhubk3-pinctrl.dtsi
index 029a386e2b0429..460a4e35b468a1 100644
--- a/boards/arm/mr_canhubk3/mr_canhubk3-pinctrl.dtsi
+++ b/boards/arm/mr_canhubk3/mr_canhubk3-pinctrl.dtsi
@@ -176,4 +176,22 @@
 			output-enable;
 		};
 	};
+
+	lpi2c0_default: lpi2c0_default {
+		group1 {
+			pinmux = <(PTD13_LPI2C0_SDA_I | PTD13_LPI2C0_SDA_O)>,
+				<(PTD14_LPI2C0_SCL_I | PTD14_LPI2C0_SCL_O)>;
+			input-enable;
+			output-enable;
+		};
+	};
+
+	lpi2c1_default: lpi2c1_default {
+		group1 {
+			pinmux = <(PTD8_LPI2C1_SDA_I | PTD8_LPI2C1_SDA_O)>,
+				<(PTD9_LPI2C1_SCL_I | PTD9_LPI2C1_SCL_O)>;
+			input-enable;
+			output-enable;
+		};
+	};
 };
diff --git a/boards/arm/mr_canhubk3/mr_canhubk3.dts b/boards/arm/mr_canhubk3/mr_canhubk3.dts
index 65d90dfa2cdaad..df1f85c84b8776 100644
--- a/boards/arm/mr_canhubk3/mr_canhubk3.dts
+++ b/boards/arm/mr_canhubk3/mr_canhubk3.dts
@@ -308,3 +308,15 @@
 	sample-point-data = <875>;
 	sjw-data = <1>;
 };
+
+&lpi2c0 {
+	pinctrl-0 = <&lpi2c0_default>;
+	pinctrl-names = "default";
+	clock-frequency = <I2C_BITRATE_STANDARD>;
+};
+
+&lpi2c1 {
+	pinctrl-0 = <&lpi2c1_default>;
+	pinctrl-names = "default";
+	clock-frequency = <I2C_BITRATE_STANDARD>;
+};
diff --git a/boards/arm/mr_canhubk3/mr_canhubk3.yaml b/boards/arm/mr_canhubk3/mr_canhubk3.yaml
index ca04df51ab82d9..1875c7cb5b0900 100644
--- a/boards/arm/mr_canhubk3/mr_canhubk3.yaml
+++ b/boards/arm/mr_canhubk3/mr_canhubk3.yaml
@@ -13,3 +13,4 @@ supported:
   - gpio
   - uart
   - can
+  - i2c
diff --git a/drivers/i2c/i2c_mcux_lpi2c.c b/drivers/i2c/i2c_mcux_lpi2c.c
index 605ac838ef59ab..dea6d110eb07e3 100644
--- a/drivers/i2c/i2c_mcux_lpi2c.c
+++ b/drivers/i2c/i2c_mcux_lpi2c.c
@@ -494,6 +494,11 @@ static int mcux_lpi2c_init(const struct device *dev)
 		return -ENODEV;
 	}
 
+	error = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
+	if (error) {
+		return error;
+	}
+
 	if (clock_control_get_rate(config->clock_dev, config->clock_subsys,
 				   &clock_freq)) {
 		return -EINVAL;
@@ -513,11 +518,6 @@ static int mcux_lpi2c_init(const struct device *dev)
 		return error;
 	}
 
-	error = pinctrl_apply_state(config->pincfg, PINCTRL_STATE_DEFAULT);
-	if (error) {
-		return error;
-	}
-
 	config->irq_config_func(dev);
 
 	return 0;
diff --git a/dts/arm/nxp/nxp_s32k344_m7.dtsi b/dts/arm/nxp/nxp_s32k344_m7.dtsi
index ed217192c8792c..a434f2e7928ad3 100644
--- a/dts/arm/nxp/nxp_s32k344_m7.dtsi
+++ b/dts/arm/nxp/nxp_s32k344_m7.dtsi
@@ -7,6 +7,7 @@
 #include <arm/armv7-m.dtsi>
 #include <mem.h>
 #include <zephyr/dt-bindings/clock/nxp_s32k344_clock.h>
+#include <zephyr/dt-bindings/i2c/i2c.h>
 
 / {
 	cpus {
@@ -484,6 +485,26 @@
 			interrupt-names = "ored", "ored_0_31_mb";
 			status = "disabled";
 		};
+
+		lpi2c0: i2c@40350000 {
+			compatible = "nxp,imx-lpi2c";
+			reg = <0x40350000 0x10000>;
+			clocks = <&clock NXP_S32_LPI2C0_CLK>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			interrupts = <161 0>;
+			status = "disabled";
+		};
+
+		lpi2c1: i2c@40354000 {
+			compatible = "nxp,imx-lpi2c";
+			reg = <0x40354000 0x10000>;
+			clocks = <&clock NXP_S32_LPI2C1_CLK>;
+			#address-cells = <1>;
+			#size-cells = <0>;
+			interrupts = <162 0>;
+			status = "disabled";
+		};
 	};
 };
 
diff --git a/soc/arm/nxp_s32/s32k/Kconfig.series b/soc/arm/nxp_s32/s32k/Kconfig.series
index 28532cf18094b2..5d41e1bc1dc9ff 100644
--- a/soc/arm/nxp_s32/s32k/Kconfig.series
+++ b/soc/arm/nxp_s32/s32k/Kconfig.series
@@ -17,5 +17,6 @@ config SOC_SERIES_S32K3_M7
 	select HAS_MCUX
 	select HAS_MCUX_LPUART
 	select HAS_MCUX_FLEXCAN
+	select HAS_MCUX_LPI2C
 	help
 	  Enable support for NXP S32K3 MCUs family on Cortex-M7 cores