diff --git a/configs/AM64X/AM64X_linux_toc.txt b/configs/AM64X/AM64X_linux_toc.txt
index e822d545a..8e97c20d8 100644
--- a/configs/AM64X/AM64X_linux_toc.txt
+++ b/configs/AM64X/AM64X_linux_toc.txt
@@ -34,6 +34,7 @@ linux/Foundational_Components/U-Boot/UG-DDRSS
 linux/Foundational_Components/U-Boot/UG-NAND
 linux/Foundational_Components/U-Boot/UG-Network-K3
 linux/Foundational_Components/U-Boot/UG-RemoteProc
+linux/Foundational_Components/U-Boot/UG-PCIeBoot
 linux/Foundational_Components/U-Boot/Applications
 linux/Foundational_Components/U-Boot/Apps-SPL-Debug-OpenOCD
 linux/Foundational_Components/U-Boot/Apps-TroubleShooting
diff --git a/source/images/AM64X_PCIe_boot.jpg b/source/images/AM64X_PCIe_boot.jpg
new file mode 100644
index 000000000..47bd959e7
Binary files /dev/null and b/source/images/AM64X_PCIe_boot.jpg differ
diff --git a/source/linux/Foundational_Components/U-Boot/UG-PCIeBoot.rst b/source/linux/Foundational_Components/U-Boot/UG-PCIeBoot.rst
new file mode 100644
index 000000000..cd13d8244
--- /dev/null
+++ b/source/linux/Foundational_Components/U-Boot/UG-PCIeBoot.rst
@@ -0,0 +1,285 @@
+.. _pcie_boot:
+
+==============
+PCIe Boot Mode
+==============
+
+Overview
+--------
+
+PCIe (Peripheral Component Interconnect Express) boot mode allows
+|__PART_FAMILY_NAME__| family of devices, configured as a PCIe endpoint, to boot by
+receiving boot loader images over PCIe from a host system acting as a
+PCIe root complex (RC). In this mode, the root complex is
+responsible for discovering the endpoint device and transferring the
+required boot loader images for each boot stage.
+
+This document provides a step-by-step guide to configuring and using
+PCIe boot mode. PCIe boot is supported on the |__PART_FAMILY_NAME__| SoC family. The
+following instructions and switch settings are specific to the |__PART_FAMILY_NAME__| EVM;
+for other boards, consult the corresponding hardware documentation.
+
+Boot Mode Switch Settings
+-------------------------
+
+To enable PCIe boot mode, configure the boot mode switches as follows:
+
+.. ifconfig:: CONFIG_part_variant in ('AM64X')
+
+   .. code-block:: text
+
+      SW2 (B0 - B7):   1 1 0 1 0 1 1 0
+      SW3 (B8 - B15):  0 0 0 0 0 0 0 0
+
+.. note::
+
+   DIP switch settings are EVM-specific and may not apply to all board designs.
+
+Board Setup (Connection Example)
+--------------------------------
+
+The following is an example of a connection in which the root complex (host) and the
+endpoint (|__PART_FAMILY_NAME__| device) are physically connected using a PCIe cable
+or connector, as shown in the figure below.
+
+.. image:: /images/AM64X_PCIe_boot.jpg
+
+Both boards should be powered off before making the connection, and the PCIe link
+securely established before powering on the devices.
+
+Other hardware configurations are possible. So adapt the setup steps as
+applicable to your board design.
+
+Endpoint Configuration
+----------------------
+
+The following configuration options are used to set up the |__PART_FAMILY_NAME__| device
+as a PCIe endpoint for PCIe boot. These options must be set in the
+board's defconfig in U-BOOT for the corresponding boot loader image.
+
+- ``CONFIG_PCI_DFU_BAR_SIZE``:
+  Configures the size of the PCIe BAR (Base Address Register) that is
+  exposed for device firmware update (DFU) and boot loader image download.
+
+- ``CONFIG_PCI_DFU_VENDOR_ID``:
+  Specifies the PCIe vendor ID to be advertised by the endpoint.
+
+- ``CONFIG_PCI_DFU_DEVICE_ID``:
+  Specifies the PCIe device ID to be advertised by the endpoint.
+
+- ``CONFIG_PCI_DFU_MAGIC_WORD``:
+  Magic word written by the root complex at the end of the image transfer to
+  signal to the endpoint that the boot loader image is ready for processing.
+
+- ``CONFIG_PCI_DFU_BOOT_PHASE``:
+  Specify the current boot phase when booting via DFU over PCIe.
+  This value can be read by the root complex to determine the
+  current boot phase. Value of this config is written to memory
+  location (BAR_start + PCI_DFU_BAR_SIZE - 70). Max size of this
+  config is 63 bytes.
+
+.. ifconfig:: CONFIG_part_variant in ('AM64X')
+
+   .. note::
+
+      All the configs required for PCIe boot are enabled in
+      ``am64x_evm_a53_defconfig`` and ``am64x_evm_r5_defconfig`` by default.
+
+      By default, PCIe root complex mode is enabled in the device tree.
+      To enable endpoint mode, the boot loaders must be built with the
+      device tree overlay ``k3-am642-evm-pcie0-ep.dtso``.
+
+Ensure these configuration options are set appropriately in the build
+environment to enable a successful PCIe boot process.
+
+PCIe Boot Procedure
+-------------------
+
+1. After configuring the boot mode switches on the endpoint and
+   connecting it to the root complex as shown in the figure, power
+   on the endpoint.
+
+2. On the root complex, rescan the PCIe bus to enumerate the PCIe
+   endpoint. The endpoint will appear as a RAM device on the root
+   complex. The enumeration may look similar to the following:
+
+   .. code-block:: text
+
+        01:00.0 RAM memory: Texas Instruments Device b010
+            Control: I/O- Mem+ BusMaster+ SpecCycle- MemWINV- VGASnoop- ParErr- Stepping- SERR- FastB2B- DisINTx+
+            Status: Cap+ 66MHz- UDF- FastB2B- ParErr- DEVSEL=fast >TAbort- <TAbort- <MAbort- >SERR- <PERR- INTx-
+            Latency: 0
+            Interrupt: pin A routed to IRQ 526
+            Region 0: Memory at 68100000 (32-bit, non-prefetchable) [size=1M]
+            Region 1: Memory at 68200000 (32-bit, prefetchable) [size=2M]
+            Region 2: Memory at 6a000000 (64-bit, prefetchable) [size=32M]
+            Region 4: Memory at 6c000000 (64-bit, prefetchable) [size=32M]
+
+3. Copy ``tiboot3.bin`` to Region 1.
+
+   .. ifconfig:: CONFIG_part_variant in ('AM64X')
+
+      After the root complex has finished copying the image,
+      it must write the PCIe boot data address to ``0x701BCFE0``.
+
+      For example, if the root complex loads the image at offset
+      ``0x1000``, then it should write ``0x70001000`` (Internal RAM
+      memory base + offset) to ``0x701BCFE0``. This notifies the ROM
+      that the image is ready to be authenticated and processed.
+
+4. Once ``tiboot3.bin`` is transferred, rescan the PCIe bus on the
+   root complex to enumerate the PCIe endpoint device, in order to
+   transfer the next stage boot loader. The enumeration may now look
+   like the following:
+
+   .. code-block:: text
+
+        0000:01:00.0 RAM memory: Texas Instruments Device b010
+            Subsystem: Device 7003:beef
+            Flags: bus master, fast devsel, latency 0, IRQ 644
+            Memory at 12000000 (32-bit, prefetchable) [size=4M]
+            Capabilities: [80] Power Management version 3
+            Capabilities: [90] MSI: Enable+ Count=1/1 Maskable+ 64bit+
+            Capabilities: [b0] MSI-X: Enable- Count=1 Masked-
+            Capabilities: [c0] Express Endpoint, IntMsgNum 0
+            Capabilities: [100] Advanced Error Reporting
+
+5. At this stage, only one memory region will be visible. Copy
+   ``tispl.bin`` to this region. After the copy, the root complex
+   must write a 4-byte magic word (defined in the defconfig) at the
+   end of the memory region. This indicates to the endpoint that the
+   boot loader image has been copied.
+
+6. Repeat steps 4 and 5 to transfer ``u-boot.img`` using the same
+   procedure.
+
+Sample Host Program for Image Transfer
+--------------------------------------
+
+The following sample C program can be used on the root complex to
+copy boot loader images (such as ``tiboot3.bin``, ``tispl.bin``, and
+``u-boot.img``) to the PCIe endpoint device by writing them to the
+appropriate memory regions using ``/dev/mem``.
+
+.. code-block:: c
+
+   #include <sys/mman.h>
+   #include <sys/stat.h>
+   #include <fcntl.h>
+   #include <unistd.h>
+   #include <stdio.h>
+   #include <stdlib.h>
+   #include <string.h>
+
+   int main(int argc, char *argv[])
+   {
+      char *bootfilename = NULL;
+      off_t bar1_address = 0;
+      int fd;
+      void *map_base;
+      long image_size, map_size;
+      char *buffer;
+      unsigned int *buffer_32;
+      int i;
+      FILE * fptr;
+      off_t load_addr, load_addr_offset, start_addr_offset;
+
+      if (argc != 3) {
+         printf("Usage: %s <bar_address> <binary_file>\n", argv[0]);
+         return 0;
+      }
+
+      bar1_address = strtoul(argv[1], NULL, 16);
+      bootfilename = argv[2];
+
+      printf("bootfilename: %s\n", bootfilename);
+      printf("bar1_address: 0x%lx\n", bar1_address);
+
+      if(!strcmp(bootfilename,"tiboot3.bin"))
+      {
+         load_addr = 0x70000000;
+         load_addr_offset = 0x1000;
+         start_addr_offset = 0x1bcfe0;
+      }
+      else
+      {
+         load_addr = 0xdeadbeef;
+         load_addr_offset = 0x00;
+         start_addr_offset = 0x3ffffc;
+      }
+
+      printf("load_addr: 0x%lx\n", load_addr);
+      printf("load_addr_offset: 0x%lx\n", load_addr_offset);
+      printf("start_addr_offset: 0x%lx\n", start_addr_offset);
+
+      printf("try to open /dev/mem.\n");
+      fd = open("/dev/mem", O_RDWR | O_SYNC);
+      if (fd < 0) {
+         printf("open /dev/mem failed.\n");
+         return 0;
+      }
+      printf("/dev/mem opened.\n");
+      (void)fflush(stdout);
+
+      fptr = fopen(bootfilename, "rb");
+      if (!fptr) {
+         printf("open %s failed.\n", bootfilename);
+         return 0;
+      }
+      printf("%s opened.\n", bootfilename);
+
+      (void)fseek(fptr, 0L, SEEK_END);
+      image_size = ftell(fptr);
+      printf("image_size: %ld\n", image_size);
+      fseek(fptr, 0, SEEK_SET);
+
+      printf("%s: image_size: %ld\n", __func__, image_size);
+
+      map_size = 0x400000;
+
+      printf("%s: map_size: %ld\n", __func__, map_size);
+
+      map_base = mmap(0, map_size, PROT_READ | PROT_WRITE, MAP_SHARED, fd, bar1_address);
+      if (map_base == MAP_FAILED) {
+         printf("mmap failed.\n");
+         return 0;
+      }
+      printf("map_base: 0x%lx\n", (unsigned long)map_base);
+      (void)fflush(stdout);
+
+      buffer = malloc(image_size);
+      if (!buffer) {
+         printf("malloc failed.\n");
+         return 0;
+      }
+
+      buffer_32 = (unsigned int *)buffer;
+      fread(buffer, (size_t)image_size, 1, fptr);
+      printf("Read image of %ld bytes\n", image_size);
+
+      printf("Writing image to memory\n");
+      for(i = 0; i < (int)image_size; i+=4)
+      {
+         *(unsigned int *)( map_base + load_addr_offset + i) = buffer_32[i/4];
+      }
+      printf("done.\n");
+      fflush(stdout);
+
+      sleep(1);
+
+      *(unsigned int *)(map_base + start_addr_offset) = (unsigned int)(load_addr_offset + load_addr);
+      return 0;
+   }
+
+Usage Example
+^^^^^^^^^^^^^
+
+To copy a boot loader file (e.g., ``tiboot3.bin``) to the PCIe device,
+run:
+
+.. code-block:: bash
+
+   sudo ./pcie_boot_copy 0x68200000 tiboot3.bin
+
+Replace ``0x68200000`` with the appropriate BAR region address as
+enumerated on the root complex, and specify the correct binary file.
diff --git a/source/linux/Foundational_Components/U-Boot/Users-Guide.rst b/source/linux/Foundational_Components/U-Boot/Users-Guide.rst
index df53d646e..0c8688e61 100644
--- a/source/linux/Foundational_Components/U-Boot/Users-Guide.rst
+++ b/source/linux/Foundational_Components/U-Boot/Users-Guide.rst
@@ -12,6 +12,7 @@ User's Guide
     UG-DFU
     UG-Network
     UG-Network-K3
+    UG-PCIeBoot
     UG-NAND
     UG-Memory-K3
     UG-Memory-OMAP