diff --git a/packages/event-handler/src/rest/ErrorHandlerRegistry.ts b/packages/event-handler/src/rest/ErrorHandlerRegistry.ts
index 2a68b72d53..3dd3bbc479 100644
--- a/packages/event-handler/src/rest/ErrorHandlerRegistry.ts
+++ b/packages/event-handler/src/rest/ErrorHandlerRegistry.ts
@@ -71,4 +71,21 @@ export class ErrorHandlerRegistry {
 
     return null;
   }
+
+  /**
+   * Merges another {@link ErrorHandlerRegistry | `ErrorHandlerRegistry`} instance into the current instance.
+   * It takes the handlers from the provided registry and adds them to the current registry.
+   *
+   * Error handlers from the included router are merged with existing handlers. If handlers for the same error type exist in both routers, the included router's handler takes precedence.
+   *
+   * @param errorHandlerRegistry - The registry instance to merge with the current instance
+   */
+  public merge(errorHandlerRegistry: ErrorHandlerRegistry): void {
+    for (const [
+      errorConstructor,
+      errorHandler,
+    ] of errorHandlerRegistry.#handlers) {
+      this.register(errorConstructor, errorHandler);
+    }
+  }
 }
diff --git a/packages/event-handler/src/rest/RouteHandlerRegistry.ts b/packages/event-handler/src/rest/RouteHandlerRegistry.ts
index 0c338f141d..116b95b91e 100644
--- a/packages/event-handler/src/rest/RouteHandlerRegistry.ts
+++ b/packages/event-handler/src/rest/RouteHandlerRegistry.ts
@@ -8,8 +8,12 @@ import type {
   ValidationResult,
 } from '../types/rest.js';
 import { ParameterValidationError } from './errors.js';
-import type { Route } from './Route.js';
-import { compilePath, validatePathPattern } from './utils.js';
+import { Route } from './Route.js';
+import {
+  compilePath,
+  resolvePrefixedPath,
+  validatePathPattern,
+} from './utils.js';
 
 class RouteHandlerRegistry {
   readonly #staticRoutes: Map<string, Route> = new Map();
@@ -193,6 +197,36 @@ class RouteHandlerRegistry {
 
     return null;
   }
+
+  /**
+   * Merges another {@link RouteHandlerRegistry | `RouteHandlerRegistry`} instance into the current instance.
+   * It takes the static and dynamic routes from the provided registry and adds them to the current registry.
+   *
+   * Routes from the included router are added to the current router's registry. If a route with the same method and path already exists, the included router's route takes precedence.
+   *
+   * @param routeHandlerRegistry - The registry instance to merge with the current instance
+   * @param options - Configuration options for merging the router
+   * @param options.prefix - An optional prefix to be added to the paths defined in the router
+   */
+  public merge(
+    routeHandlerRegistry: RouteHandlerRegistry,
+    options?: { prefix: Path }
+  ): void {
+    const routes = [
+      ...routeHandlerRegistry.#staticRoutes.values(),
+      ...routeHandlerRegistry.#dynamicRoutes,
+    ];
+    for (const route of routes) {
+      this.register(
+        new Route(
+          route.method as HttpMethod,
+          resolvePrefixedPath(route.path, options?.prefix),
+          route.handler,
+          route.middleware
+        )
+      );
+    }
+  }
 }
 
 export { RouteHandlerRegistry };
diff --git a/packages/event-handler/src/rest/Router.ts b/packages/event-handler/src/rest/Router.ts
index cbff596d09..8ce3f5e191 100644
--- a/packages/event-handler/src/rest/Router.ts
+++ b/packages/event-handler/src/rest/Router.ts
@@ -41,6 +41,7 @@ import {
   isAPIGatewayProxyEvent,
   isAPIGatewayProxyResult,
   isHttpMethod,
+  resolvePrefixedPath,
 } from './utils.js';
 
 class Router {
@@ -293,10 +294,7 @@ class Router {
   public route(handler: RouteHandler, options: RestRouteOptions): void {
     const { method, path, middleware = [] } = options;
     const methods = Array.isArray(method) ? method : [method];
-    let resolvedPath = path;
-    if (this.prefix) {
-      resolvedPath = path === '/' ? this.prefix : `${this.prefix}${path}`;
-    }
+    const resolvedPath = resolvePrefixedPath(path, this.prefix);
 
     for (const method of methods) {
       this.routeRegistry.register(
@@ -551,6 +549,50 @@ class Router {
       handler
     );
   }
+
+  /**
+   * Merges the routes, context and middleware from the passed router instance into this router instance.
+   *
+   * **Override Behaviors:**
+   * - **Context**: Properties from the included router override existing properties with the same key in the current router. A warning is logged when conflicts occur.
+   * - **Routes**: Routes from the included router are added to the current router's registry. If a route with the same method and path already exists, the included router's route takes precedence.
+   * - **Error Handlers**: Error handlers from the included router are merged with existing handlers. If handlers for the same error type exist in both routers, the included router's handler takes precedence.
+   * - **Middleware**: Middleware from the included router is appended to the current router's middleware array. All middleware executes in registration order (current router's middleware first, then included router's middleware).
+   *
+   * @example
+   * ```typescript
+   * import { Router } from '@aws-lambda-powertools/event-handler/experimental-rest';
+   *
+   * const todosRouter = new Router();
+   *
+   * todosRouter.get('/todos', async () => {
+   *   // List API
+   * });
+   *
+   * todosRouter.get('/todos/{todoId}', async () => {
+   *   // Get API
+   * });
+   *
+   * const app = new Router();
+   * app.includeRouter(todosRouter);
+   *
+   * export const handler = async (event: unknown, context: Context) => {
+   *   return app.resolve(event, context);
+   * };
+   * ```
+   * @param router - The `Router` from which to merge the routes, context and middleware
+   * @param options - Configuration options for merging the router
+   * @param options.prefix - An optional prefix to be added to the paths defined in the router
+   */
+  public includeRouter(router: Router, options?: { prefix: Path }): void {
+    this.context = {
+      ...this.context,
+      ...router.context,
+    };
+    this.routeRegistry.merge(router.routeRegistry, options);
+    this.errorHandlerRegistry.merge(router.errorHandlerRegistry);
+    this.middleware.push(...router.middleware);
+  }
 }
 
 export { Router };
diff --git a/packages/event-handler/src/rest/utils.ts b/packages/event-handler/src/rest/utils.ts
index e8fbd1e5d0..eb587a0b7d 100644
--- a/packages/event-handler/src/rest/utils.ts
+++ b/packages/event-handler/src/rest/utils.ts
@@ -196,3 +196,16 @@ export const composeMiddleware = (middleware: Middleware[]): Middleware => {
     return result;
   };
 };
+
+/**
+ * Resolves a prefixed path by combining the provided path and prefix.
+ *
+ * @param path - The path to resolve
+ * @param prefix - The prefix to prepend to the path
+ */
+export const resolvePrefixedPath = (path: Path, prefix?: Path): Path => {
+  if (prefix) {
+    return path === '/' ? prefix : `${prefix}${path}`;
+  }
+  return path;
+};
diff --git a/packages/event-handler/tests/unit/rest/Router/basic-routing.test.ts b/packages/event-handler/tests/unit/rest/Router/basic-routing.test.ts
index d4dffadb44..a17ce1eb46 100644
--- a/packages/event-handler/tests/unit/rest/Router/basic-routing.test.ts
+++ b/packages/event-handler/tests/unit/rest/Router/basic-routing.test.ts
@@ -1,5 +1,5 @@
 import context from '@aws-lambda-powertools/testing-utils/context';
-import { describe, expect, it } from 'vitest';
+import { describe, expect, it, vi } from 'vitest';
 import {
   HttpStatusCodes,
   HttpVerbs,
@@ -144,4 +144,52 @@ describe('Class: Router - Basic Routing', () => {
     expect(JSON.parse(createResult.body).actualPath).toBe('/todos');
     expect(JSON.parse(getResult.body).actualPath).toBe('/todos/1');
   });
+
+  it('routes to the included router when using split routers', async () => {
+    // Prepare
+    const todoRouter = new Router({ logger: console });
+    todoRouter.use(async ({ next }) => {
+      console.log('todoRouter middleware');
+      await next();
+    });
+    todoRouter.get('/', async () => ({ api: 'listTodos' }));
+    todoRouter.notFound(async () => {
+      return {
+        error: 'Route not found',
+      };
+    });
+    const consoleLogSpy = vi.spyOn(console, 'log');
+    const consoleWarnSpy = vi.spyOn(console, 'warn');
+
+    const app = new Router();
+    app.use(async ({ next }) => {
+      console.log('app middleware');
+      await next();
+    });
+    app.get('/todos', async () => ({ api: 'rootTodos' }));
+    app.get('/', async () => ({ api: 'root' }));
+    app.includeRouter(todoRouter, { prefix: '/todos' });
+
+    // Act
+    const rootResult = await app.resolve(createTestEvent('/', 'GET'), context);
+    const listTodosResult = await app.resolve(
+      createTestEvent('/todos', 'GET'),
+      context
+    );
+    const notFoundResult = await app.resolve(
+      createTestEvent('/non-existent', 'GET'),
+      context
+    );
+
+    // Assert
+    expect(JSON.parse(rootResult.body).api).toEqual('root');
+    expect(JSON.parse(listTodosResult.body).api).toEqual('listTodos');
+    expect(JSON.parse(notFoundResult.body).error).toEqual('Route not found');
+    expect(consoleLogSpy).toHaveBeenNthCalledWith(1, 'app middleware');
+    expect(consoleLogSpy).toHaveBeenNthCalledWith(2, 'todoRouter middleware');
+    expect(consoleWarnSpy).toHaveBeenNthCalledWith(
+      1,
+      'Handler for method: GET and path: /todos already exists. The previous handler will be replaced.'
+    );
+  });
 });
diff --git a/packages/event-handler/tests/unit/rest/utils.test.ts b/packages/event-handler/tests/unit/rest/utils.test.ts
index 5082eb6608..50de2f4f03 100644
--- a/packages/event-handler/tests/unit/rest/utils.test.ts
+++ b/packages/event-handler/tests/unit/rest/utils.test.ts
@@ -9,7 +9,11 @@ import {
   isAPIGatewayProxyEvent,
   isAPIGatewayProxyResult,
 } from '../../../src/rest/index.js';
-import { compilePath, validatePathPattern } from '../../../src/rest/utils.js';
+import {
+  compilePath,
+  resolvePrefixedPath,
+  validatePathPattern,
+} from '../../../src/rest/utils.js';
 import type {
   Middleware,
   Path,
@@ -567,4 +571,18 @@ describe('Path Utilities', () => {
       expect(result).toBeUndefined();
     });
   });
+
+  describe('resolvePrefixedPath', () => {
+    it.each([
+      { path: '/test', prefix: '/prefix', expected: '/prefix/test' },
+      { path: '/', prefix: '/prefix', expected: '/prefix' },
+      { path: '/test', expected: '/test' },
+    ])('resolves prefixed path', ({ path, prefix, expected }) => {
+      // Prepare & Act
+      const resolvedPath = resolvePrefixedPath(path as Path, prefix as Path);
+
+      // Assert
+      expect(resolvedPath).toBe(expected);
+    });
+  });
 });