diff --git a/CODEOWNERS b/CODEOWNERS
index 15918b4cb164e..007833e98975b 100644
--- a/CODEOWNERS
+++ b/CODEOWNERS
@@ -552,6 +552,7 @@
 /subsys/fs/fuse_fs_access.c               @vanwinkeljan
 /subsys/fs/littlefs_fs.c                  @pabigot
 /subsys/fs/nvs/                           @Laczen
+/subsys/ipc/                              @ioannisg
 /subsys/logging/                          @nordic-krch
 /subsys/logging/log_backend_net.c         @nordic-krch @jukkar
 /subsys/lorawan/                          @Mani-Sadhasivam
diff --git a/boards/arm/nrf5340dk_nrf5340/Kconfig b/boards/arm/nrf5340dk_nrf5340/Kconfig
index f2cf86257b97f..f7ab2d18a4482 100644
--- a/boards/arm/nrf5340dk_nrf5340/Kconfig
+++ b/boards/arm/nrf5340dk_nrf5340/Kconfig
@@ -1,8 +1,44 @@
 # nRF5340 (P)DK board configuration
 
-# Copyright (c) 2019 - 2020 Nordic Semiconductor ASA
+# Copyright (c) 2019 - 2021 Nordic Semiconductor ASA
 # SPDX-License-Identifier: Apache-2.0
 
+config IPM_NRFX
+	default IPM
+
+config RPMSG_SERVICE_DUAL_IPM_SUPPORT
+	default RPMSG_SERVICE
+
+if RPMSG_SERVICE_DUAL_IPM_SUPPORT
+
+config IPM_MSG_CH_0_ENABLE
+	default y
+
+config IPM_MSG_CH_1_ENABLE
+	default y
+
+config RPMSG_SERVICE_IPM_TX_NAME
+	default "IPM_0" if RPMSG_SERVICE_MODE_MASTER
+	default "IPM_1" if RPMSG_SERVICE_MODE_REMOTE
+
+config RPMSG_SERVICE_IPM_RX_NAME
+	default "IPM_1" if RPMSG_SERVICE_MODE_MASTER
+	default "IPM_0" if RPMSG_SERVICE_MODE_REMOTE
+
+config IPM_MSG_CH_0_TX
+	default RPMSG_SERVICE_MODE_MASTER
+
+config IPM_MSG_CH_0_RX
+	default RPMSG_SERVICE_MODE_REMOTE
+
+config IPM_MSG_CH_1_TX
+	default RPMSG_SERVICE_MODE_REMOTE
+
+config IPM_MSG_CH_1_RX
+	default RPMSG_SERVICE_MODE_MASTER
+
+endif # RPMSG_SERVICE_DUAL_IPM_SUPPORT
+
 if BOARD_NRF5340PDK_NRF5340_CPUAPP || BOARD_NRF5340PDK_NRF5340_CPUAPPNS || BOARD_NRF5340DK_NRF5340_CPUAPP || BOARD_NRF5340DK_NRF5340_CPUAPPNS
 
 config BOARD_ENABLE_DCDC_APP
diff --git a/boards/arm/nrf5340dk_nrf5340/nrf5340_cpunet_reset.c b/boards/arm/nrf5340dk_nrf5340/nrf5340_cpunet_reset.c
index 28da9938d154a..8cff522478a67 100644
--- a/boards/arm/nrf5340dk_nrf5340/nrf5340_cpunet_reset.c
+++ b/boards/arm/nrf5340dk_nrf5340/nrf5340_cpunet_reset.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2019-2020 Nordic Semiconductor ASA.
+ * Copyright (c) 2019-2021 Nordic Semiconductor ASA.
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -12,13 +12,6 @@
 
 LOG_MODULE_REGISTER(nrf5340pdk_nrf5340_cpuapp, CONFIG_LOG_DEFAULT_LEVEL);
 
-/* Shared memory definitions */
-#if DT_HAS_CHOSEN(zephyr_ipc_shm)
-#define SHM_NODE            DT_CHOSEN(zephyr_ipc_shm)
-#define SHM_BASE_ADDRESS    DT_REG_ADDR(SHM_NODE)
-#define SHM_SIZE            DT_REG_SIZE(SHM_NODE)
-#endif
-
 #if !defined(CONFIG_TRUSTED_EXECUTION_NONSECURE)
 
 /* This should come from DTS, possibly an overlay. */
@@ -83,14 +76,6 @@ static int remoteproc_mgr_boot(const struct device *dev)
 	 * this case do the remainder of actions to properly configure and
 	 * boot the Network MCU.
 	 */
-#if defined(SHM_BASE_ADDRESS) && (SHM_BASE_ADDRESS != 0)
-
-	/* Initialize inter-processor shared memory block to zero. It is
-	 * assumed that the application image has access to the shared
-	 * memory at this point (see #24147).
-	 */
-	memset((void *) SHM_BASE_ADDRESS, 0, SHM_SIZE);
-#endif
 
 	/* Release the Network MCU, 'Release force off signal' */
 	NRF_RESET->NETWORK.FORCEOFF = RESET_NETWORK_FORCEOFF_FORCEOFF_Release;
diff --git a/drivers/bluetooth/hci/Kconfig b/drivers/bluetooth/hci/Kconfig
index 198d07ac4ace3..2e7ec5e978105 100644
--- a/drivers/bluetooth/hci/Kconfig
+++ b/drivers/bluetooth/hci/Kconfig
@@ -112,26 +112,16 @@ config BT_RPMSG_NRF53
 	bool "nRF53 configuration of RPMsg"
 	default y if SOC_NRF5340_CPUAPP
 	depends on BT_RPMSG
-	select IPM
-	select IPM_NRFX
-	select IPM_MSG_CH_1_ENABLE
-	select IPM_MSG_CH_0_ENABLE
-	select IPM_MSG_CH_0_TX
-	select IPM_MSG_CH_1_RX
-	select OPENAMP
+	select RPMSG_SERVICE
 	help
 	  Enable RPMsg configuration for nRF53. Two channels of the IPM driver
 	  are used in the HCI driver: channel 0 for TX and channel 1 for RX.
 
 if BT_RPMSG_NRF53
 
-config BT_RPMSG_NRF53_RX_STACK_SIZE
-	int "RPMsg stack size for RX thread"
-	default 1024
-
-config BT_RPMSG_NRF53_RX_PRIO
-	int "RPMsg RX thread priority"
-	default 8
+choice RPMSG_SERVICE_MODE
+	default RPMSG_SERVICE_MODE_MASTER
+endchoice
 
 endif # BT_RPMSG_NRF53
 
diff --git a/drivers/bluetooth/hci/rpmsg.c b/drivers/bluetooth/hci/rpmsg.c
index 4706d2c3b52a1..d679af6cce1d2 100644
--- a/drivers/bluetooth/hci/rpmsg.c
+++ b/drivers/bluetooth/hci/rpmsg.c
@@ -23,6 +23,7 @@
 
 int bt_rpmsg_platform_init(void);
 int bt_rpmsg_platform_send(struct net_buf *buf);
+int bt_rpmsg_platform_endpoint_is_bound(void);
 
 static bool is_hci_event_discardable(const uint8_t *evt_data)
 {
@@ -234,7 +235,10 @@ static int bt_rpmsg_open(void)
 {
 	BT_DBG("");
 
-	return bt_rpmsg_platform_init();
+	while (!bt_rpmsg_platform_endpoint_is_bound()) {
+		k_sleep(K_MSEC(1));
+	}
+	return 0;
 }
 
 static const struct bt_hci_driver drv = {
@@ -251,7 +255,20 @@ static int bt_rpmsg_init(const struct device *unused)
 {
 	ARG_UNUSED(unused);
 
-	return bt_hci_driver_register(&drv);
+	int err;
+
+	err = bt_rpmsg_platform_init();
+	if (err < 0) {
+		BT_ERR("Failed to initialize BT RPMSG (err %d)", err);
+		return err;
+	}
+
+	err = bt_hci_driver_register(&drv);
+	if (err < 0) {
+		BT_ERR("Failed to register BT HIC driver (err %d)", err);
+	}
+
+	return err;
 }
 
-SYS_INIT(bt_rpmsg_init, POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);
+SYS_INIT(bt_rpmsg_init, POST_KERNEL, CONFIG_RPMSG_SERVICE_EP_REG_PRIORITY);
diff --git a/drivers/bluetooth/hci/rpmsg_nrf53.c b/drivers/bluetooth/hci/rpmsg_nrf53.c
index 62afda90f60d2..4f07c92f507d3 100644
--- a/drivers/bluetooth/hci/rpmsg_nrf53.c
+++ b/drivers/bluetooth/hci/rpmsg_nrf53.c
@@ -6,10 +6,7 @@
 
 #include <drivers/ipm.h>
 
-#include <openamp/open_amp.h>
-#include <metal/sys.h>
-#include <metal/device.h>
-#include <metal/alloc.h>
+#include <ipc/rpmsg_service.h>
 
 #define BT_DBG_ENABLED IS_ENABLED(CONFIG_BT_DEBUG_HCI_DRIVER)
 #define LOG_MODULE_NAME bt_hci_driver_nrf53
@@ -20,107 +17,10 @@ void bt_rpmsg_rx(uint8_t *data, size_t len);
 static K_SEM_DEFINE(ready_sem, 0, 1);
 static K_SEM_DEFINE(rx_sem, 0, 1);
 
-static K_KERNEL_STACK_DEFINE(bt_rpmsg_rx_thread_stack,
-			     CONFIG_BT_RPMSG_NRF53_RX_STACK_SIZE);
-static struct k_thread bt_rpmsg_rx_thread_data;
-
-static const struct device *ipm_tx_handle;
-static const struct device *ipm_rx_handle;
-
-/* Configuration defines */
-
-#define SHM_NODE            DT_CHOSEN(zephyr_ipc_shm)
-#define SHM_BASE_ADDRESS    DT_REG_ADDR(SHM_NODE)
-
-#define SHM_START_ADDR      (SHM_BASE_ADDRESS + 0x400)
-#define SHM_SIZE            0x7c00
-#define SHM_DEVICE_NAME     "sram0.shm"
-
-BUILD_ASSERT((SHM_START_ADDR + SHM_SIZE - SHM_BASE_ADDRESS)
-		<= DT_REG_SIZE(SHM_NODE),
-	"Allocated size exceeds available shared memory reserved for IPC");
-
-#define VRING_COUNT         2
-#define VRING_TX_ADDRESS    (SHM_START_ADDR + SHM_SIZE - 0x400)
-#define VRING_RX_ADDRESS    (VRING_TX_ADDRESS - 0x400)
-#define VRING_ALIGNMENT     4
-#define VRING_SIZE          16
-
-#define VDEV_STATUS_ADDR    SHM_BASE_ADDRESS
-
 BUILD_ASSERT(CONFIG_HEAP_MEM_POOL_SIZE >= 1024,
 	"Not enough heap memory for RPMsg queue allocation");
 
-/* End of configuration defines */
-
-static metal_phys_addr_t shm_physmap[] = { SHM_START_ADDR };
-static struct metal_device shm_device = {
-	.name = SHM_DEVICE_NAME,
-	.bus = NULL,
-	.num_regions = 1,
-	.regions = {
-		{
-			.virt       = (void *) SHM_START_ADDR,
-			.physmap    = shm_physmap,
-			.size       = SHM_SIZE,
-			.page_shift = 0xffffffff,
-			.page_mask  = 0xffffffff,
-			.mem_flags  = 0,
-			.ops        = { NULL },
-		},
-	},
-	.node = { NULL },
-	.irq_num = 0,
-	.irq_info = NULL
-};
-
-static struct virtqueue *vq[2];
-static struct rpmsg_endpoint ep;
-
-static unsigned char virtio_get_status(struct virtio_device *vdev)
-{
-	return VIRTIO_CONFIG_STATUS_DRIVER_OK;
-}
-
-static void virtio_set_status(struct virtio_device *vdev, unsigned char status)
-{
-	sys_write8(status, VDEV_STATUS_ADDR);
-}
-
-static uint32_t virtio_get_features(struct virtio_device *vdev)
-{
-	return BIT(VIRTIO_RPMSG_F_NS);
-}
-
-static void virtio_set_features(struct virtio_device *vdev, uint32_t features)
-{
-	/* No need for implementation */
-}
-
-static void virtio_notify(struct virtqueue *vq)
-{
-	int status;
-
-	status = ipm_send(ipm_tx_handle, 0, 0, NULL, 0);
-	if (status != 0) {
-		BT_ERR("ipm_send failed to notify: %d", status);
-	}
-}
-
-const struct virtio_dispatch dispatch = {
-	.get_status = virtio_get_status,
-	.set_status = virtio_set_status,
-	.get_features = virtio_get_features,
-	.set_features = virtio_set_features,
-	.notify = virtio_notify,
-};
-
-static void ipm_callback(const struct device *dev, void *context,
-			 uint32_t id, volatile void *data)
-{
-	BT_DBG("Got callback of id %u", id);
-	k_sem_give(&rx_sem);
-}
+static int endpoint_id;
 
 static int endpoint_cb(struct rpmsg_endpoint *ept, void *data, size_t len,
 	uint32_t src, void *priv)
@@ -133,146 +33,28 @@ static int endpoint_cb(struct rpmsg_endpoint *ept, void *data, size_t len,
 	return RPMSG_SUCCESS;
 }
 
-static void rpmsg_service_unbind(struct rpmsg_endpoint *ep)
-{
-	rpmsg_destroy_ept(ep);
-}
-
-static void ns_bind_cb(struct rpmsg_device *rdev, const char *name, uint32_t dest)
-{
-	(void)rpmsg_create_ept(&ep,
-				rdev,
-				name,
-				RPMSG_ADDR_ANY,
-				dest,
-				endpoint_cb,
-				rpmsg_service_unbind);
-
-	k_sem_give(&ready_sem);
-}
-
-static void bt_rpmsg_rx_thread(void *p1, void *p2, void *p3)
-{
-	ARG_UNUSED(p1);
-	ARG_UNUSED(p2);
-	ARG_UNUSED(p3);
-
-	while (1) {
-		int status = k_sem_take(&rx_sem, K_FOREVER);
-
-		if (status == 0) {
-			virtqueue_notification(vq[0]);
-		}
-	}
-}
-
 int bt_rpmsg_platform_init(void)
 {
 	int err;
-	struct metal_init_params metal_params = METAL_INIT_DEFAULTS;
 
-	static struct virtio_vring_info     rvrings[2];
-	static struct rpmsg_virtio_shm_pool shpool;
-	static struct virtio_device         vdev;
-	static struct rpmsg_virtio_device   rvdev;
-	static struct metal_io_region       *io;
-	static struct metal_device          *device;
+	err = rpmsg_service_register_endpoint("nrf_bt_hci", endpoint_cb);
 
-	/* Setup thread for RX data processing. */
-	k_thread_create(&bt_rpmsg_rx_thread_data, bt_rpmsg_rx_thread_stack,
-			K_KERNEL_STACK_SIZEOF(bt_rpmsg_rx_thread_stack),
-			bt_rpmsg_rx_thread, NULL, NULL, NULL,
-			K_PRIO_COOP(CONFIG_BT_RPMSG_NRF53_RX_PRIO),
-			0, K_NO_WAIT);
-
-	/* Libmetal setup */
-	err = metal_init(&metal_params);
-	if (err) {
-		BT_ERR("metal_init: failed - error code %d", err);
-		return err;
+	if (err < 0) {
+		LOG_ERR("Registering endpoint failed with %d", err);
+		return RPMSG_ERR_INIT;
 	}
 
-	err = metal_register_generic_device(&shm_device);
-	if (err) {
-		BT_ERR("Couldn't register shared memory device: %d", err);
-		return err;
-	}
+	endpoint_id = err;
 
-	err = metal_device_open("generic", SHM_DEVICE_NAME, &device);
-	if (err) {
-		BT_ERR("metal_device_open failed: %d", err);
-		return err;
-	}
-
-	io = metal_device_io_region(device, 0);
-	if (!io) {
-		BT_ERR("metal_device_io_region failed to get region");
-		return -ENODEV;
-	}
-
-	/* IPM setup */
-	ipm_tx_handle = device_get_binding("IPM_0");
-	if (!ipm_tx_handle) {
-		BT_ERR("Could not get TX IPM device handle");
-		return -ENODEV;
-	}
-
-	ipm_rx_handle = device_get_binding("IPM_1");
-	if (!ipm_rx_handle) {
-		BT_ERR("Could not get RX IPM device handle");
-		return -ENODEV;
-	}
-
-	ipm_register_callback(ipm_rx_handle, ipm_callback, NULL);
-
-	/* Virtqueue setup */
-	vq[0] = virtqueue_allocate(VRING_SIZE);
-	if (!vq[0]) {
-		BT_ERR("virtqueue_allocate failed to alloc vq[0]");
-		return -ENOMEM;
-	}
-
-	vq[1] = virtqueue_allocate(VRING_SIZE);
-	if (!vq[1]) {
-		BT_ERR("virtqueue_allocate failed to alloc vq[1]");
-		return -ENOMEM;
-	}
-
-	rvrings[0].io = io;
-	rvrings[0].info.vaddr = (void *)VRING_TX_ADDRESS;
-	rvrings[0].info.num_descs = VRING_SIZE;
-	rvrings[0].info.align = VRING_ALIGNMENT;
-	rvrings[0].vq = vq[0];
-
-	rvrings[1].io = io;
-	rvrings[1].info.vaddr = (void *)VRING_RX_ADDRESS;
-	rvrings[1].info.num_descs = VRING_SIZE;
-	rvrings[1].info.align = VRING_ALIGNMENT;
-	rvrings[1].vq = vq[1];
-
-	vdev.role = RPMSG_MASTER;
-	vdev.vrings_num = VRING_COUNT;
-	vdev.func = &dispatch;
-	vdev.vrings_info = &rvrings[0];
-
-	rpmsg_virtio_init_shm_pool(&shpool, (void *)SHM_START_ADDR, SHM_SIZE);
-	err = rpmsg_init_vdev(&rvdev, &vdev, ns_bind_cb, io, &shpool);
-	if (err) {
-		BT_ERR("rpmsg_init_vdev failed %d", err);
-		return err;
-	}
-
-	/* Wait til nameservice ep is setup */
-	err = k_sem_take(&ready_sem, K_SECONDS(3));
-	if (err) {
-		BT_ERR("No contact with network core EP (err %d)", err);
-		return err;
-	}
-
-	return 0;
+	return RPMSG_SUCCESS;
 }
 
 int bt_rpmsg_platform_send(struct net_buf *buf)
 {
-	return rpmsg_send(&ep, buf->data, buf->len);
+	return rpmsg_service_send(endpoint_id, buf->data, buf->len);
+}
+
+int bt_rpmsg_platform_endpoint_is_bound(void)
+{
+	return rpmsg_service_endpoint_is_bound(endpoint_id);
 }
diff --git a/include/ipc/rpmsg_service.h b/include/ipc/rpmsg_service.h
new file mode 100644
index 0000000000000..8a010a1f4c41b
--- /dev/null
+++ b/include/ipc/rpmsg_service.h
@@ -0,0 +1,78 @@
+/*
+ * Copyright (c) 2020 Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_INCLUDE_RPMSG_SERVICE_RPMSG_SERVICE_H_
+#define ZEPHYR_INCLUDE_RPMSG_SERVICE_RPMSG_SERVICE_H_
+
+#include <openamp/open_amp.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief RPMsg service API
+ * @defgroup rpmsg_service_api RPMsg service APIs
+ * @{
+ */
+
+/**
+ * @brief Register IPC endpoint
+ *
+ * Registers IPC endpoint to enable communication with a remote device.
+ * The endpoint is created when the slave device registers it.
+ *
+ * The same function registers endpoints for both master and slave devices.
+ *
+ * @param name String containing the name of the endpoint. Must be identical
+ *             for master and slave
+ * @param cb Callback executed when data are available on given endpoint
+ *
+ * @retval >=0 id of registered endpoint on success;
+ * @retval -EINPROGRESS when requested to register an endpoint after endpoints
+ *         creation procedure has started;
+ * @retval -ENOMEM when there is not enough slots to register the endpoint;
+ * @retval <0 an other negative errno code, reported by rpmsg.
+ */
+int rpmsg_service_register_endpoint(const char *name, rpmsg_ept_cb cb);
+
+/**
+ * @brief Send data using given IPC endpoint
+ *
+ * @param endpoint_id Id of registered endpoint, obtained by
+ *                    @ref rpmsg_service_register_endpoint
+ * @param data Pointer to the buffer to send through RPMsg service
+ * @param len Number of bytes to send.
+ *
+ * @retval >=0 number of sent bytes;
+ * @retval <0 an error code, reported by rpmsg.
+ */
+int rpmsg_service_send(int endpoint_id, const void *data, size_t len);
+
+/**
+ * @brief Check if endpoint is bound.
+ *
+ * Checks if remote endpoint has been created
+ * and the master has bound its endpoint to it.
+ *
+ * @param endpoint_id Id of registered endpoint, obtained by
+ *                    @ref rpmsg_service_register_endpoint
+ *
+ * @retval true endpoint is bound
+ * @retval false endpoint not bound
+ */
+bool rpmsg_service_endpoint_is_bound(int endpoint_id);
+
+/**
+ * @}
+ */
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZEPHYR_INCLUDE_RPMSG_SERVICE_RPMSG_SERVICE_H_ */
diff --git a/modules/hal_nordic/Kconfig b/modules/hal_nordic/Kconfig
index 529d5eb1a9fc0..5b90002c5bab5 100644
--- a/modules/hal_nordic/Kconfig
+++ b/modules/hal_nordic/Kconfig
@@ -1,4 +1,4 @@
-# Copyright (c) 2016 Nordic Semiconductor ASA
+# Copyright (c) 2016-2021 Nordic Semiconductor ASA
 # SPDX-License-Identifier: Apache-2.0
 
 config ZEPHYR_HAL_NORDIC_MODULE
@@ -107,13 +107,7 @@ config NRF_802154_SER_HOST
 	bool "nRF IEEE 802.15.4 Driver serialization host"
 	depends on !NRF_802154_RADIO_DRIVER
 	depends on !HAS_HW_NRF_RADIO_IEEE802154
-	select IPM
-	select IPM_NRFX
-	select IPM_MSG_CH_0_ENABLE
-	select IPM_MSG_CH_1_ENABLE
-	select IPM_MSG_CH_0_TX
-	select IPM_MSG_CH_1_RX
-	select OPENAMP
+	select RPMSG_SERVICE
 	select IEEE802154_NRF5_EXT_IRQ_MGMT if IEEE802154_NRF5
 	help
 	  Enable serialization of nRF IEEE 802.15.4 Driver. This option is to be
@@ -124,13 +118,7 @@ menuconfig NRF_802154_SER_RADIO
 	bool "nRF IEEE 802.15.4 Driver serialization radio"
 	depends on HAS_HW_NRF_RADIO_IEEE802154
 	depends on !IEEE802154_NRF5
-	select IPM
-	select IPM_NRFX
-	select IPM_MSG_CH_0_ENABLE
-	select IPM_MSG_CH_1_ENABLE
-	select IPM_MSG_CH_0_RX
-	select IPM_MSG_CH_1_TX
-	select OPENAMP
+	select RPMSG_SERVICE
 	select NRF_802154_RADIO_DRIVER
 	help
 	  Enable serialization of nRF IEEE 802.15.4 Driver. This option is to be
@@ -146,6 +134,10 @@ config NRF_802154_SER_RADIO_INIT_PRIO
 	  Set the initialization priority number. Do not mess with it unless
 	  you know what you are doing.
 
+choice RPMSG_SERVICE_MODE
+	default RPMSG_SERVICE_MODE_REMOTE
+endchoice
+
 endif
 
 menu "nRF 802.15.4 serialization"
@@ -181,6 +173,10 @@ config NRF_802154_RX_BUFFERS
 	  Number of buffers in nRF 802.15.4 driver serialization host's receive queue.
 	  If this value is modified, its remote counterpart must be set to the exact same value.
 
+choice RPMSG_SERVICE_MODE
+	default RPMSG_SERVICE_MODE_MASTER
+endchoice
+
 endif
 
 endmenu # NRF_802154_SER_HOST || NRF_802154_SER_RADIO
diff --git a/samples/bluetooth/hci_rpmsg/prj.conf b/samples/bluetooth/hci_rpmsg/prj.conf
index d3445b936685b..46a1992edc763 100644
--- a/samples/bluetooth/hci_rpmsg/prj.conf
+++ b/samples/bluetooth/hci_rpmsg/prj.conf
@@ -1,13 +1,7 @@
 CONFIG_LOG=y
-CONFIG_OPENAMP=y
 
-CONFIG_IPM=y
-CONFIG_IPM_NRFX=y
-
-CONFIG_IPM_MSG_CH_1_ENABLE=y
-CONFIG_IPM_MSG_CH_1_TX=y
-CONFIG_IPM_MSG_CH_0_ENABLE=y
-CONFIG_IPM_MSG_CH_0_RX=y
+CONFIG_RPMSG_SERVICE=y
+CONFIG_RPMSG_SERVICE_MODE_REMOTE=y
 
 CONFIG_HEAP_MEM_POOL_SIZE=8192
 
@@ -18,3 +12,7 @@ CONFIG_BT_HCI_RAW=y
 CONFIG_BT_MAX_CONN=16
 CONFIG_BT_CTLR_ASSERT_HANDLER=y
 CONFIG_BT_HCI_RAW_RESERVE=1
+
+CONFIG_ASSERT=y
+CONFIG_DEBUG_INFO=y
+CONFIG_EXCEPTION_STACK_TRACE=y
diff --git a/samples/bluetooth/hci_rpmsg/src/main.c b/samples/bluetooth/hci_rpmsg/src/main.c
index 68dfe7abe9f9e..d328dc28718c0 100644
--- a/samples/bluetooth/hci_rpmsg/src/main.c
+++ b/samples/bluetooth/hci_rpmsg/src/main.c
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2019 Nordic Semiconductor ASA
+ * Copyright (c) 2019-2021 Nordic Semiconductor ASA
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -21,6 +21,8 @@
 #include <metal/device.h>
 #include <metal/alloc.h>
 
+#include <ipc/rpmsg_service.h>
+
 #include <net/buf.h>
 #include <bluetooth/bluetooth.h>
 #include <bluetooth/l2cap.h>
@@ -32,108 +34,7 @@
 #define LOG_MODULE_NAME hci_rpmsg
 LOG_MODULE_REGISTER(LOG_MODULE_NAME);
 
-/* Configuration defines */
-#if !DT_HAS_CHOSEN(zephyr_ipc_shm)
-#error "Sample requires definition of shared memory for rpmsg"
-#endif
-
-#define SHM_NODE            DT_CHOSEN(zephyr_ipc_shm)
-#define SHM_BASE_ADDRESS    DT_REG_ADDR(SHM_NODE)
-#define SHM_START_ADDR      (SHM_BASE_ADDRESS + 0x400)
-#define SHM_SIZE            0x7c00
-#define SHM_DEVICE_NAME     "sram0.shm"
-
-BUILD_ASSERT((SHM_START_ADDR + SHM_SIZE - SHM_BASE_ADDRESS)
-		<= DT_REG_SIZE(SHM_NODE),
-	"Allocated size exceeds available shared memory reserved for IPC");
-
-#define VRING_COUNT         2
-#define VRING_TX_ADDRESS    (SHM_START_ADDR + SHM_SIZE - 0x400)
-#define VRING_RX_ADDRESS    (VRING_TX_ADDRESS - 0x400)
-#define VRING_ALIGNMENT     4
-#define VRING_SIZE          16
-
-#define VDEV_STATUS_ADDR    SHM_BASE_ADDRESS
-
-/* End of configuration defines */
-
-static const struct device *ipm_tx_handle;
-static const struct device *ipm_rx_handle;
-
-static metal_phys_addr_t shm_physmap[] = { SHM_START_ADDR };
-static struct metal_device shm_device = {
-	.name = SHM_DEVICE_NAME,
-	.bus = NULL,
-	.num_regions = 1,
-	.regions = {
-		{
-			.virt       = (void *) SHM_START_ADDR,
-			.physmap    = shm_physmap,
-			.size       = SHM_SIZE,
-			.page_shift = 0xffffffff,
-			.page_mask  = 0xffffffff,
-			.mem_flags  = 0,
-			.ops        = { NULL },
-		},
-	},
-	.node = { NULL },
-	.irq_num = 0,
-	.irq_info = NULL
-};
-
-static struct virtqueue *vq[2];
-static struct rpmsg_endpoint ep;
-
-static struct k_work ipm_work;
-
-static unsigned char virtio_get_status(struct virtio_device *vdev)
-{
-	return sys_read8(VDEV_STATUS_ADDR);
-}
-
-static uint32_t virtio_get_features(struct virtio_device *vdev)
-{
-	return BIT(VIRTIO_RPMSG_F_NS);
-}
-
-static void virtio_set_status(struct virtio_device *vdev, unsigned char status)
-{
-	sys_write8(status, VDEV_STATUS_ADDR);
-}
-
-static void virtio_notify(struct virtqueue *vq)
-{
-	int status;
-
-	status = ipm_send(ipm_tx_handle, 0, 0, NULL, 0);
-	if (status != 0) {
-		LOG_ERR("ipm_send failed to notify: %d", status);
-	}
-}
-
-const struct virtio_dispatch dispatch = {
-	.get_status = virtio_get_status,
-	.set_status = virtio_set_status,
-	.get_features = virtio_get_features,
-	.notify = virtio_notify,
-};
-
-static void ipm_callback_process(struct k_work *work)
-{
-	virtqueue_notification(vq[1]);
-}
-
-static void ipm_callback(const struct device *dev, void *context,
-			 uint32_t id, volatile void *data)
-{
-	LOG_INF("Got callback of id %u", id);
-	k_work_submit(&ipm_work);
-}
-
-static void rpmsg_service_unbind(struct rpmsg_endpoint *ep)
-{
-	rpmsg_destroy_ept(ep);
-}
+static int endpoint_id;
 
 static K_THREAD_STACK_DEFINE(tx_thread_stack, CONFIG_BT_HCI_TX_STACK_SIZE);
 static struct k_thread tx_thread_data;
@@ -323,7 +224,7 @@ static int hci_rpmsg_send(struct net_buf *buf)
 	net_buf_push_u8(buf, pkt_indicator);
 
 	LOG_HEXDUMP_DBG(buf->data, buf->len, "Final HCI buffer:");
-	rpmsg_send(&ep, buf->data, buf->len);
+	rpmsg_service_send(endpoint_id, buf->data, buf->len);
 
 	net_buf_unref(buf);
 
@@ -346,110 +247,6 @@ int endpoint_cb(struct rpmsg_endpoint *ept, void *data, size_t len, uint32_t src
 	return RPMSG_SUCCESS;
 }
 
-static int hci_rpmsg_init(void)
-{
-	int err;
-	struct metal_init_params metal_params = METAL_INIT_DEFAULTS;
-
-	static struct virtio_vring_info   rvrings[2];
-	static struct virtio_device       vdev;
-	static struct rpmsg_device        *rdev;
-	static struct rpmsg_virtio_device rvdev;
-	static struct metal_io_region     *io;
-	static struct metal_device        *device;
-
-	/* Setup IPM workqueue item */
-	k_work_init(&ipm_work, ipm_callback_process);
-
-	/* Libmetal setup */
-	err = metal_init(&metal_params);
-	if (err) {
-		LOG_ERR("metal_init: failed - error code %d", err);
-		return err;
-	}
-
-	err = metal_register_generic_device(&shm_device);
-	if (err) {
-		LOG_ERR("Couldn't register shared memory device: %d", err);
-		return err;
-	}
-
-	err = metal_device_open("generic", SHM_DEVICE_NAME, &device);
-	if (err) {
-		LOG_ERR("metal_device_open failed: %d", err);
-		return err;
-	}
-
-	io = metal_device_io_region(device, 0);
-	if (!io) {
-		LOG_ERR("metal_device_io_region failed to get region");
-		return -ENODEV;
-	}
-
-	/* IPM setup */
-	ipm_tx_handle = device_get_binding("IPM_1");
-	if (!ipm_tx_handle) {
-		LOG_ERR("Could not get TX IPM device handle");
-		return -ENODEV;
-	}
-
-	ipm_rx_handle = device_get_binding("IPM_0");
-	if (!ipm_rx_handle) {
-		LOG_ERR("Could not get RX IPM device handle");
-		return -ENODEV;
-	}
-
-	ipm_register_callback(ipm_rx_handle, ipm_callback, NULL);
-
-	vq[0] = virtqueue_allocate(VRING_SIZE);
-	if (!vq[0]) {
-		LOG_ERR("virtqueue_allocate failed to alloc vq[0]");
-		return -ENOMEM;
-	}
-
-	vq[1] = virtqueue_allocate(VRING_SIZE);
-	if (!vq[1]) {
-		LOG_ERR("virtqueue_allocate failed to alloc vq[1]");
-		return -ENOMEM;
-	}
-
-	rvrings[0].io = io;
-	rvrings[0].info.vaddr = (void *)VRING_TX_ADDRESS;
-	rvrings[0].info.num_descs = VRING_SIZE;
-	rvrings[0].info.align = VRING_ALIGNMENT;
-	rvrings[0].vq = vq[0];
-
-	rvrings[1].io = io;
-	rvrings[1].info.vaddr = (void *)VRING_RX_ADDRESS;
-	rvrings[1].info.num_descs = VRING_SIZE;
-	rvrings[1].info.align = VRING_ALIGNMENT;
-	rvrings[1].vq = vq[1];
-
-	vdev.role = RPMSG_REMOTE;
-	vdev.vrings_num = VRING_COUNT;
-	vdev.func = &dispatch;
-	vdev.vrings_info = &rvrings[0];
-
-	/* setup rvdev */
-	err = rpmsg_init_vdev(&rvdev, &vdev, NULL, io, NULL);
-	if (err) {
-		LOG_ERR("rpmsg_init_vdev failed %d", err);
-		return err;
-	}
-
-	rdev = rpmsg_virtio_get_rpmsg_device(&rvdev);
-
-	err = rpmsg_create_ept(&ep, rdev, "bt_hci", RPMSG_ADDR_ANY,
-				  RPMSG_ADDR_ANY, endpoint_cb,
-				  rpmsg_service_unbind);
-	if (err) {
-		LOG_ERR("rpmsg_create_ept failed %d", err);
-		return err;
-	}
-
-	return err;
-}
-
 void main(void)
 {
 	int err;
@@ -457,12 +254,6 @@ void main(void)
 	/* incoming events and data from the controller */
 	static K_FIFO_DEFINE(rx_queue);
 
-	/* initialize RPMSG */
-	err = hci_rpmsg_init();
-	if (err != 0) {
-		return;
-	}
-
 	LOG_DBG("Start");
 
 	/* Enable the raw interface, this will in turn open the HCI driver */
@@ -486,3 +277,22 @@ void main(void)
 		}
 	}
 }
+
+/* Make sure we register endpoint before RPMsg Service is initialized. */
+int register_endpoint(const struct device *arg)
+{
+	int status;
+
+	status = rpmsg_service_register_endpoint("nrf_bt_hci", endpoint_cb);
+
+	if (status < 0) {
+		LOG_ERR("Registering endpoint failed with %d", status);
+		return status;
+	}
+
+	endpoint_id = status;
+
+	return 0;
+}
+
+SYS_INIT(register_endpoint, POST_KERNEL, CONFIG_RPMSG_SERVICE_EP_REG_PRIORITY);
diff --git a/samples/subsys/ipc/rpmsg_service/CMakeLists.txt b/samples/subsys/ipc/rpmsg_service/CMakeLists.txt
new file mode 100644
index 0000000000000..f8e09d594e625
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/CMakeLists.txt
@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.13.1)
+# Copyright (c) 2019 Linaro Limited
+# Copyright (c) 2018-2021 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+set(REMOTE_ZEPHYR_DIR ${CMAKE_CURRENT_BINARY_DIR}/rpmsg_service_remote-prefix/src/rpmsg_service_remote-build/zephyr)
+
+if("${BOARD}" STREQUAL "nrf5340dk_nrf5340_cpuapp")
+  set(BOARD_REMOTE "nrf5340dk_nrf5340_cpunet")
+elseif("${BOARD}" STREQUAL "lpcxpresso54114_m4")
+  set(BOARD_REMOTE "lpcxpresso54114_m0")
+elseif("${BOARD}" STREQUAL "mps2_an521")
+  set(QEMU_EXTRA_FLAGS "-device;loader,file=${REMOTE_ZEPHYR_DIR}/zephyr.elf")
+  set(BOARD_REMOTE "mps2_an521_nonsecure")
+elseif("${BOARD}" STREQUAL "v2m_musca_b1")
+  set(BOARD_REMOTE "v2m_musca_b1_nonsecure")
+else()
+  message(FATAL_ERROR "${BOARD} was not supported for this sample")
+endif()
+
+message(INFO " ${BOARD} compile as Master in this sample")
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(rpmsg_service)
+
+enable_language(C ASM)
+
+target_sources(app PRIVATE src/main.c)
+
+include(ExternalProject)
+
+ExternalProject_Add(
+  rpmsg_service_remote
+  SOURCE_DIR ${APPLICATION_SOURCE_DIR}/remote
+  INSTALL_COMMAND ""      # This particular build system has no install command
+  CMAKE_CACHE_ARGS -DBOARD:STRING=${BOARD_REMOTE}
+  CMAKE_CACHE_ARGS -DDTC_OVERLAY_FILE:STRING=${DTC_OVERLAY_FILE}
+  BUILD_BYPRODUCTS "${REMOTE_ZEPHYR_DIR}/${KERNEL_BIN_NAME}"
+  # NB: Do we need to pass on more CMake variables?
+  BUILD_ALWAYS True
+)
+
+if(("${BOARD}" STREQUAL "lpcxpresso54114_m4"))
+	add_dependencies(core_m0_inc_target rpmsg_service_remote)
+endif()
+
+target_include_directories(app PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
diff --git a/samples/subsys/ipc/rpmsg_service/README.rst b/samples/subsys/ipc/rpmsg_service/README.rst
new file mode 100644
index 0000000000000..bb05b0b01ee12
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/README.rst
@@ -0,0 +1,75 @@
+.. _RPMsg_Service_sample:
+
+RPMsg Service sample Application
+################################
+
+Overview
+********
+
+RPMsg Service is an abstraction created over OpenAMP that makes initialization
+and endpoints creation process easier.
+This application demonstrates how to use RPMsg Service in Zephyr. It is designed
+to demonstrate how to integrate RPMsg Service with Zephyr both from a build
+perspective and code.
+
+Building the application for nrf5340dk_nrf5340_cpuapp
+*****************************************************
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/subsys/ipc/rpmsg_service
+   :board: nrf5340dk_nrf5340_cpuapp
+   :goals: debug
+
+Building the application for mps2_an521
+***************************************
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/subsys/ipc/rpmsg_service
+   :board: mps2_an521
+   :goals: debug
+
+Building the application for v2m_musca_b1
+*****************************************
+
+.. zephyr-app-commands::
+   :zephyr-app: samples/subsys/ipc/rpmsg_service
+   :board: v2m_musca_b1
+   :goals: debug
+
+Open a serial terminal (minicom, putty, etc.) and connect the board with the
+following settings:
+
+- Speed: 115200
+- Data: 8 bits
+- Parity: None
+- Stop bits: 1
+
+Reset the board and the following message will appear on the corresponding
+serial port, one is master another is remote:
+
+.. code-block:: console
+
+   **** Booting Zephyr OS build zephyr-v1.14.0-2064-g888fc98fddaa ****
+   Starting application thread!
+
+   RPMsg Service [master] demo started
+   Master core received a message: 1
+   Master core received a message: 3
+   Master core received a message: 5
+   ...
+   Master core received a message: 99
+   RPMsg Service demo ended.
+
+
+.. code-block:: console
+
+   **** Booting Zephyr OS build zephyr-v1.14.0-2064-g888fc98fddaa ****
+   Starting application thread!
+
+   RPMsg Service [remote] demo started
+   Remote core received a message: 0
+   Remote core received a message: 2
+   Remote core received a message: 4
+   ...
+   Remote core received a message: 98
+   RPMsg Service demo ended.
diff --git a/samples/subsys/ipc/rpmsg_service/boards/mps2_an521.overlay b/samples/subsys/ipc/rpmsg_service/boards/mps2_an521.overlay
new file mode 100644
index 0000000000000..aff3c460cbc09
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/boards/mps2_an521.overlay
@@ -0,0 +1,20 @@
+/*
+ * Copyright (c) 2019 Linaro Limited
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	chosen {
+		/*
+		 * shared memory reserved for the inter-processor communication
+		 */
+		zephyr,ipc_shm = &sramx;
+		zephyr,ipc = &mhu0;
+	};
+
+	sramx: memory@28180000 {
+		compatible = "mmio-sram";
+		reg = <0x28180000 0x8000>;
+	};
+};
diff --git a/samples/subsys/ipc/rpmsg_service/boards/nrf5340dk_nrf5340_cpuapp.conf b/samples/subsys/ipc/rpmsg_service/boards/nrf5340dk_nrf5340_cpuapp.conf
new file mode 100644
index 0000000000000..0af6c0de76911
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/boards/nrf5340dk_nrf5340_cpuapp.conf
@@ -0,0 +1 @@
+CONFIG_BOARD_ENABLE_CPUNET=y
diff --git a/samples/subsys/ipc/rpmsg_service/boards/v2m_musca_b1.overlay b/samples/subsys/ipc/rpmsg_service/boards/v2m_musca_b1.overlay
new file mode 100644
index 0000000000000..a2473c4cc09b2
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/boards/v2m_musca_b1.overlay
@@ -0,0 +1,20 @@
+/*
+ * Copyright (c) 2019 Linaro Limited
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/ {
+	chosen {
+		/*
+		 * shared memory reserved for the inter-processor communication
+		 */
+		zephyr,ipc_shm = &sramx;
+		zephyr,ipc = &mhu0;
+	};
+
+	sramx: memory@20060000 {
+		compatible = "mmio-sram";
+		reg = <0x20060000 0x8000>;
+	};
+};
diff --git a/samples/subsys/ipc/rpmsg_service/prj.conf b/samples/subsys/ipc/rpmsg_service/prj.conf
new file mode 100644
index 0000000000000..dc7dba36ca73b
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/prj.conf
@@ -0,0 +1,8 @@
+CONFIG_PRINTK=y
+CONFIG_IPM=y
+CONFIG_TIMESLICE_SIZE=1
+CONFIG_MAIN_STACK_SIZE=2048
+CONFIG_HEAP_MEM_POOL_SIZE=4096
+CONFIG_RPMSG_SERVICE=y
+CONFIG_RPMSG_SERVICE_MODE_MASTER=y
+CONFIG_OPENAMP_SLAVE=n
diff --git a/samples/subsys/ipc/rpmsg_service/remote/CMakeLists.txt b/samples/subsys/ipc/rpmsg_service/remote/CMakeLists.txt
new file mode 100644
index 0000000000000..81c5ccf9d96e0
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/remote/CMakeLists.txt
@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.13.1)
+# Copyright (c) 2019 Linaro Limited
+# Copyright (c) 2018-2021 Nordic Semiconductor ASA
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+
+if("${BOARD}" STREQUAL "nrf5340dk_nrf5340_cpunet"
+	OR "${BOARD}" STREQUAL "lpcxpresso54114_m0"
+	OR "${BOARD}" STREQUAL "mps2_an521_nonsecure"
+	OR "${BOARD}" STREQUAL "v2m_musca_b1_nonsecure")
+	message(INFO " ${BOARD} compile as slave in this sample")
+else()
+	message(FATAL_ERROR "${BOARD} was not supported for this sample")
+endif()
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(rpmsg_service_remote)
+
+target_sources(app PRIVATE src/main.c)
+target_include_directories(app PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/..)
diff --git a/samples/subsys/ipc/rpmsg_service/remote/boards/lpcxpresso54114_m0.conf b/samples/subsys/ipc/rpmsg_service/remote/boards/lpcxpresso54114_m0.conf
new file mode 100644
index 0000000000000..2360fff8e4235
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/remote/boards/lpcxpresso54114_m0.conf
@@ -0,0 +1 @@
+CONFIG_IPM_MCUX=y
diff --git a/samples/subsys/ipc/rpmsg_service/remote/prj.conf b/samples/subsys/ipc/rpmsg_service/remote/prj.conf
new file mode 100644
index 0000000000000..cf83e5b59a53d
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/remote/prj.conf
@@ -0,0 +1,8 @@
+CONFIG_STDOUT_CONSOLE=n
+CONFIG_PRINTK=n
+CONFIG_IPM=y
+CONFIG_HEAP_MEM_POOL_SIZE=4096
+CONFIG_SEGGER_RTT_BUFFER_SIZE_UP=4096
+CONFIG_RPMSG_SERVICE=y
+CONFIG_RPMSG_SERVICE_MODE_REMOTE=y
+CONFIG_OPENAMP_MASTER=n
diff --git a/samples/subsys/ipc/rpmsg_service/remote/src/main.c b/samples/subsys/ipc/rpmsg_service/remote/src/main.c
new file mode 100644
index 0000000000000..45e4c83886088
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/remote/src/main.c
@@ -0,0 +1,102 @@
+/*
+ * Copyright (c) 2018, NXP
+ * Copyright (c) 2018-2019, Linaro Limited
+ * Copyright (c) 2018-2021, Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr.h>
+#include <drivers/ipm.h>
+#include <sys/printk.h>
+#include <device.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <ipc/rpmsg_service.h>
+
+#define APP_TASK_STACK_SIZE (1024)
+K_THREAD_STACK_DEFINE(thread_stack, APP_TASK_STACK_SIZE);
+static struct k_thread thread_data;
+
+static volatile unsigned int received_data;
+
+static K_SEM_DEFINE(data_sem, 0, 1);
+static K_SEM_DEFINE(data_rx_sem, 0, 1);
+
+int endpoint_cb(struct rpmsg_endpoint *ept, void *data,
+		size_t len, uint32_t src, void *priv)
+{
+	received_data = *((unsigned int *) data);
+
+	k_sem_give(&data_rx_sem);
+
+	return RPMSG_SUCCESS;
+}
+
+static int ep_id;
+
+static unsigned int receive_message(void)
+{
+	k_sem_take(&data_rx_sem, K_FOREVER);
+	return received_data;
+}
+
+static int send_message(unsigned int message)
+{
+	return rpmsg_service_send(ep_id, &message, sizeof(message));
+}
+
+void app_task(void *arg1, void *arg2, void *arg3)
+{
+	ARG_UNUSED(arg1);
+	ARG_UNUSED(arg2);
+	ARG_UNUSED(arg3);
+	int status = 0;
+	unsigned int message = 0U;
+
+	printk("\r\nRPMsg Service [remote] demo started\r\n");
+
+	while (message < 99) {
+		message = receive_message();
+		printk("Remote core received a message: %d\n", message);
+
+		message++;
+		status = send_message(message);
+		if (status < 0) {
+			printk("send_message(%d) failed with status %d\n",
+			       message, status);
+			break;
+		}
+	}
+
+	printk("RPMsg Service demo ended.\n");
+}
+
+void main(void)
+{
+	printk("Starting application thread!\n");
+	k_thread_create(&thread_data, thread_stack, APP_TASK_STACK_SIZE,
+			(k_thread_entry_t)app_task,
+			NULL, NULL, NULL, K_PRIO_COOP(7), 0, K_NO_WAIT);
+}
+
+/* Make sure we register endpoint before RPMsg Service is initialized. */
+int register_endpoint(const struct device *arg)
+{
+	int status;
+
+	status = rpmsg_service_register_endpoint("demo", endpoint_cb);
+
+	if (status < 0) {
+		printk("rpmsg_create_ept failed %d\n", status);
+		return status;
+	}
+
+	ep_id = status;
+
+	return 0;
+}
+
+SYS_INIT(register_endpoint, POST_KERNEL, CONFIG_RPMSG_SERVICE_EP_REG_PRIORITY);
diff --git a/samples/subsys/ipc/rpmsg_service/sample.yaml b/samples/subsys/ipc/rpmsg_service/sample.yaml
new file mode 100644
index 0000000000000..1210167532d9a
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/sample.yaml
@@ -0,0 +1,15 @@
+sample:
+    description: This app provides an example of how to integrate
+        RPMsg Service with Zephyr.
+    name: RPMsg Service example integration
+tests:
+    sample.ipc.rpmsg_service:
+        platform_allow: nrf5340dk_nrf5340_cpuapp mps2_an521 v2m_musca_b1
+        tags: ipm
+        harness: console
+        harness_config:
+          type: multi_line
+          regex:
+            - "Master core received a message: 1"
+            - "Master core received a message: 99"
+            - "RPMsg Service demo ended."
diff --git a/samples/subsys/ipc/rpmsg_service/src/main.c b/samples/subsys/ipc/rpmsg_service/src/main.c
new file mode 100644
index 0000000000000..7b56e56f107b4
--- /dev/null
+++ b/samples/subsys/ipc/rpmsg_service/src/main.c
@@ -0,0 +1,119 @@
+/*
+ * Copyright (c) 2018, NXP
+ * Copyright (c) 2018-2019, Linaro Limited
+ * Copyright (c) 2018-2021, Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr.h>
+#include <drivers/ipm.h>
+#include <sys/printk.h>
+#include <device.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <init.h>
+
+#include <ipc/rpmsg_service.h>
+
+#define APP_TASK_STACK_SIZE (1024)
+K_THREAD_STACK_DEFINE(thread_stack, APP_TASK_STACK_SIZE);
+static struct k_thread thread_data;
+
+static volatile unsigned int received_data;
+
+static K_SEM_DEFINE(data_rx_sem, 0, 1);
+
+int endpoint_cb(struct rpmsg_endpoint *ept, void *data,
+		size_t len, uint32_t src, void *priv)
+{
+	received_data = *((unsigned int *) data);
+
+	k_sem_give(&data_rx_sem);
+
+	return RPMSG_SUCCESS;
+}
+
+static int ep_id;
+struct rpmsg_endpoint my_ept;
+struct rpmsg_endpoint *ep = &my_ept;
+
+static unsigned int receive_message(void)
+{
+	k_sem_take(&data_rx_sem, K_FOREVER);
+	return received_data;
+}
+
+static int send_message(unsigned int message)
+{
+	return rpmsg_service_send(ep_id, &message, sizeof(message));
+}
+
+void app_task(void *arg1, void *arg2, void *arg3)
+{
+	ARG_UNUSED(arg1);
+	ARG_UNUSED(arg2);
+	ARG_UNUSED(arg3);
+	int status = 0;
+	unsigned int message = 0U;
+
+	printk("\r\nRPMsg Service [master] demo started\r\n");
+
+	/* Since we are using name service, we need to wait for a response
+	 * from NS setup and than we need to process it
+	 */
+	while (!rpmsg_service_endpoint_is_bound(ep_id)) {
+		k_sleep(K_MSEC(1));
+	}
+
+	while (message < 100) {
+		status = send_message(message);
+		if (status < 0) {
+			printk("send_message(%d) failed with status %d\n",
+			       message, status);
+			break;
+		}
+
+		message = receive_message();
+		printk("Master core received a message: %d\n", message);
+
+		message++;
+	}
+
+	printk("RPMsg Service demo ended.\n");
+}
+
+void main(void)
+{
+	printk("Starting application thread!\n");
+	k_thread_create(&thread_data, thread_stack, APP_TASK_STACK_SIZE,
+			(k_thread_entry_t)app_task,
+			NULL, NULL, NULL, K_PRIO_COOP(7), 0, K_NO_WAIT);
+
+#if defined(CONFIG_SOC_MPS2_AN521) || \
+	defined(CONFIG_SOC_V2M_MUSCA_A) || \
+	defined(CONFIG_SOC_V2M_MUSCA_B1)
+	wakeup_cpu1();
+	k_msleep(500);
+#endif /* #if defined(CONFIG_SOC_MPS2_AN521) */
+}
+
+/* Make sure we register endpoint before RPMsg Service is initialized. */
+int register_endpoint(const struct device *arg)
+{
+	int status;
+
+	status = rpmsg_service_register_endpoint("demo", endpoint_cb);
+
+	if (status < 0) {
+		printk("rpmsg_create_ept failed %d\n", status);
+		return status;
+	}
+
+	ep_id = status;
+
+	return 0;
+}
+
+SYS_INIT(register_endpoint, POST_KERNEL, CONFIG_RPMSG_SERVICE_EP_REG_PRIORITY);
diff --git a/subsys/CMakeLists.txt b/subsys/CMakeLists.txt
index d528abafbfce1..80d7a838b35be 100644
--- a/subsys/CMakeLists.txt
+++ b/subsys/CMakeLists.txt
@@ -10,6 +10,7 @@ add_subdirectory_ifdef(CONFIG_CPLUSPLUS            cpp)
 add_subdirectory_ifdef(CONFIG_DISK_ACCESS          disk)
 add_subdirectory_ifdef(CONFIG_EMUL emul)
 add_subdirectory(fs)
+add_subdirectory(ipc)
 add_subdirectory(mgmt)
 add_subdirectory_ifdef(CONFIG_MCUBOOT_IMG_MANAGER  dfu)
 add_subdirectory_ifdef(CONFIG_NET_BUF              net)
diff --git a/subsys/Kconfig b/subsys/Kconfig
index fb64e0add7aab..6c5a95d671f00 100644
--- a/subsys/Kconfig
+++ b/subsys/Kconfig
@@ -1,6 +1,7 @@
 # Subsystem configuration options
 
 # Copyright (c) 2016-2017 Intel Corporation
+# Copyright (c) 2021 Nordic Semiconductor
 # SPDX-License-Identifier: Apache-2.0
 
 menu "Sub Systems and OS Services"
@@ -23,6 +24,8 @@ source "subsys/fb/Kconfig"
 
 source "subsys/fs/Kconfig"
 
+source "subsys/ipc/Kconfig"
+
 source "subsys/jwt/Kconfig"
 
 source "subsys/logging/Kconfig"
diff --git a/subsys/ipc/CMakeLists.txt b/subsys/ipc/CMakeLists.txt
new file mode 100644
index 0000000000000..41bb76fc997b1
--- /dev/null
+++ b/subsys/ipc/CMakeLists.txt
@@ -0,0 +1,3 @@
+# SPDX-License-Identifier: Apache-2.0
+
+add_subdirectory_ifdef(CONFIG_RPMSG_SERVICE rpmsg_service)
diff --git a/subsys/ipc/Kconfig b/subsys/ipc/Kconfig
new file mode 100644
index 0000000000000..c2a106d3ebdb6
--- /dev/null
+++ b/subsys/ipc/Kconfig
@@ -0,0 +1,10 @@
+# IPC subsystem configuration options
+
+# Copyright (c) 2021 Nordic Semiconductor
+# SPDX-License-Identifier: Apache-2.0
+
+menu "Inter Processor Communication"
+
+source "subsys/ipc/rpmsg_service/Kconfig"
+
+endmenu
diff --git a/subsys/ipc/rpmsg_service/CMakeLists.txt b/subsys/ipc/rpmsg_service/CMakeLists.txt
new file mode 100644
index 0000000000000..357a2bc6c3f8c
--- /dev/null
+++ b/subsys/ipc/rpmsg_service/CMakeLists.txt
@@ -0,0 +1,4 @@
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_sources(rpmsg_backend.c)
+zephyr_sources(rpmsg_service.c)
diff --git a/subsys/ipc/rpmsg_service/Kconfig b/subsys/ipc/rpmsg_service/Kconfig
new file mode 100644
index 0000000000000..1c053f0bfe5d8
--- /dev/null
+++ b/subsys/ipc/rpmsg_service/Kconfig
@@ -0,0 +1,122 @@
+# Copyright (c) 2020-2021 Nordic Semiconductor (ASA)
+# SPDX-License-Identifier: Apache-2.0
+
+# Workaround for not being able to have commas in macro arguments
+DT_CHOSEN_Z_IPC_SHM := zephyr,ipc_shm
+DT_CHOSEN_Z_IPC := zephyr,ipc
+DT_CHOSEN_Z_IPC_TX := zephyr,ipc_tx
+DT_CHOSEN_Z_IPC_RX := zephyr,ipc_rx
+
+config RPMSG_SERVICE_SINGLE_IPM_SUPPORT
+	bool
+	default $(dt_chosen_enabled,$(DT_CHOSEN_Z_IPC))
+	help
+	  This option must be selected when single IPM is used for
+	  both TX and RX communication
+
+config RPMSG_SERVICE_DUAL_IPM_SUPPORT
+	bool
+	default $(dt_chosen_enabled,$(DT_CHOSEN_Z_IPC_TX)) && \
+		$(dt_chosen_enabled,$(DT_CHOSEN_Z_IPC_RX))
+	help
+	  This option must be selected when separate IPMs are used for
+	  TX and RX communication
+
+menuconfig RPMSG_SERVICE
+	bool "RPMsg service for multiple users"
+	select IPM
+	select OPENAMP
+	help
+	  Enables support for a service that can be shared by multiple
+	  users to establish RPMsg endpoints for given channel.
+
+if RPMSG_SERVICE
+
+config RPMSG_SERVICE_SHM_BASE_ADDRESS
+	hex
+	default "$(dt_chosen_reg_addr_hex,$(DT_CHOSEN_Z_IPC_SHM))"
+	help
+	  This option specifies base address of the memory region to
+	  be used for the OpenAMP IPC shared memory
+
+config RPMSG_SERVICE_SHM_SIZE
+	hex
+	default "$(dt_chosen_reg_size_hex,$(DT_CHOSEN_Z_IPC_SHM))"
+	help
+	  This option specifies size of the memory region to be used
+	  for the OpenAMP IPC shared memory
+
+if RPMSG_SERVICE_SINGLE_IPM_SUPPORT
+
+config RPMSG_SERVICE_IPM_NAME
+	string
+	default "$(dt_chosen_label,$(DT_CHOSEN_Z_IPC))"
+	help
+	  This option specifies the IPM device name to be used
+
+endif # RPMSG_SERVICE_SINGLE_IPM_SUPPORT
+
+if RPMSG_SERVICE_DUAL_IPM_SUPPORT
+
+config RPMSG_SERVICE_IPM_TX_NAME
+	string
+	default "$(dt_chosen_label,$(DT_CHOSEN_Z_IPC_TX))"
+	help
+	  This option specifies the IPM device name to be used for
+	  TX communication
+
+config RPMSG_SERVICE_IPM_RX_NAME
+	string
+	default "$(dt_chosen_label,$(DT_CHOSEN_Z_IPC_RX))"
+	help
+	  This option specifies the IPM device name to be used for
+	  RX communication
+
+endif # RPMSG_SERVICE_DUAL_IPM_SUPPORT
+
+choice RPMSG_SERVICE_MODE
+	prompt "RPMsg Service mode"
+
+config RPMSG_SERVICE_MODE_MASTER
+	bool "RPMsg master"
+	select OPENAMP_MASTER
+
+config RPMSG_SERVICE_MODE_REMOTE
+	bool "RPMsg remote"
+	select OPENAMP_SLAVE
+
+endchoice
+
+config RPMSG_SERVICE_NUM_ENDPOINTS
+	int "Max number of registered endpoints"
+	default 2
+	help
+	  Maximal number of endpoints that can be registered for given
+	  RPMsg service.
+
+config RPMSG_SERVICE_WORK_QUEUE_STACK_SIZE
+	int "Size of RX work queue stack"
+	default 2048
+	help
+	  Size of stack used by work queue RX thread. This work queue is
+	  created in the RPMsg Service backend module to prevent notifying
+	  service users about received data from the system work queue.
+
+config RPMSG_SERVICE_INIT_PRIORITY
+	int "Initialization priority of RPMsg service"
+	default 48
+	help
+	  The order of RPMsg Service initialization and endpoints registration
+	  is important to avoid race conditions in RPMsg endpoints handshake.
+
+	  If in doubt, do not modify this value.
+
+config RPMSG_SERVICE_EP_REG_PRIORITY
+	int "Initialization priority of modules registering RPMsg endpoints"
+	default 47
+	help
+	  The endpoints must be registered before RPMsg Service is initialized.
+
+	  If in doubt, do not modify this value.
+
+endif # RPMSG_SERVICE
diff --git a/subsys/ipc/rpmsg_service/rpmsg_backend.c b/subsys/ipc/rpmsg_service/rpmsg_backend.c
new file mode 100644
index 0000000000000..bd5e7bf8a22bc
--- /dev/null
+++ b/subsys/ipc/rpmsg_service/rpmsg_backend.c
@@ -0,0 +1,296 @@
+/*
+ * Copyright (c) 2021, Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "rpmsg_backend.h"
+
+#include <zephyr.h>
+#include <drivers/ipm.h>
+#include <device.h>
+#include <logging/log.h>
+
+#include <openamp/open_amp.h>
+#include <metal/device.h>
+
+#define LOG_LEVEL LOG_LEVEL_INFO
+#define LOG_MODULE_NAME rpmsg_backend
+LOG_MODULE_REGISTER(LOG_MODULE_NAME);
+
+/* Configuration defines */
+#if !DT_HAS_CHOSEN(zephyr_ipc_shm)
+#error "Module requires definition of shared memory for rpmsg"
+#endif
+
+#define MASTER IS_ENABLED(CONFIG_RPMSG_SERVICE_MODE_MASTER)
+
+#if MASTER
+#define VIRTQUEUE_ID 0
+#define RPMSG_ROLE RPMSG_MASTER
+#else
+#define VIRTQUEUE_ID 1
+#define RPMSG_ROLE RPMSG_REMOTE
+#endif
+
+/* Configuration defines */
+
+#define VRING_COUNT		    2
+#define VRING_RX_ADDRESS	(VDEV_START_ADDR + SHM_SIZE - VDEV_STATUS_SIZE)
+#define VRING_TX_ADDRESS	(VDEV_START_ADDR + SHM_SIZE)
+#define VRING_ALIGNMENT		4
+#define VRING_SIZE		    16
+
+#define IPM_WORK_QUEUE_STACK_SIZE CONFIG_RPMSG_SERVICE_WORK_QUEUE_STACK_SIZE
+
+#if IS_ENABLED(CONFIG_COOP_ENABLED)
+#define IPM_WORK_QUEUE_PRIORITY -1
+#else
+#define IPM_WORK_QUEUE_PRIORITY 0
+#endif
+
+K_THREAD_STACK_DEFINE(ipm_stack_area, IPM_WORK_QUEUE_STACK_SIZE);
+
+struct k_work_q ipm_work_q;
+
+/* End of configuration defines */
+
+#if defined(CONFIG_RPMSG_SERVICE_DUAL_IPM_SUPPORT)
+static const struct device *ipm_tx_handle;
+static const struct device *ipm_rx_handle;
+#elif defined(CONFIG_RPMSG_SERVICE_SINGLE_IPM_SUPPORT)
+static const struct device *ipm_handle;
+#endif
+
+static metal_phys_addr_t shm_physmap[] = { SHM_START_ADDR };
+static struct metal_device shm_device = {
+	.name = SHM_DEVICE_NAME,
+	.bus = NULL,
+	.num_regions = 1,
+	{
+		{
+			.virt       = (void *) SHM_START_ADDR,
+			.physmap    = shm_physmap,
+			.size       = SHM_SIZE,
+			.page_shift = 0xffffffff,
+			.page_mask  = 0xffffffff,
+			.mem_flags  = 0,
+			.ops        = { NULL },
+		},
+	},
+	.node = { NULL },
+	.irq_num = 0,
+	.irq_info = NULL
+};
+
+static struct virtio_vring_info rvrings[2] = {
+	[0] = {
+		.info.align = VRING_ALIGNMENT,
+	},
+	[1] = {
+		.info.align = VRING_ALIGNMENT,
+	},
+};
+static struct virtqueue *vq[2];
+
+static struct k_work ipm_work;
+
+static unsigned char virtio_get_status(struct virtio_device *vdev)
+{
+#if MASTER
+	return VIRTIO_CONFIG_STATUS_DRIVER_OK;
+#else
+	return sys_read8(VDEV_STATUS_ADDR);
+#endif
+}
+
+static void virtio_set_status(struct virtio_device *vdev, unsigned char status)
+{
+	sys_write8(status, VDEV_STATUS_ADDR);
+}
+
+static uint32_t virtio_get_features(struct virtio_device *vdev)
+{
+	return BIT(VIRTIO_RPMSG_F_NS);
+}
+
+static void virtio_set_features(struct virtio_device *vdev,
+				uint32_t features)
+{
+}
+
+static void virtio_notify(struct virtqueue *vq)
+{
+	int status;
+
+#if defined(CONFIG_RPMSG_SERVICE_DUAL_IPM_SUPPORT)
+	status = ipm_send(ipm_tx_handle, 0, 0, NULL, 0);
+#elif defined(CONFIG_RPMSG_SERVICE_SINGLE_IPM_SUPPORT)
+
+#if defined(CONFIG_SOC_MPS2_AN521) || \
+	defined(CONFIG_SOC_V2M_MUSCA_A) || \
+	defined(CONFIG_SOC_V2M_MUSCA_B1)
+	uint32_t current_core = sse_200_platform_get_cpu_id();
+
+	status = ipm_send(ipm_handle, 0, current_core ? 0 : 1, 0, 1);
+#else
+	uint32_t dummy_data = 0x55005500; /* Some data must be provided */
+
+	status = ipm_send(ipm_handle, 0, 0, &dummy_data, sizeof(dummy_data));
+#endif /* #if defined(CONFIG_SOC_MPS2_AN521) */
+
+#endif
+
+	if (status != 0) {
+		LOG_ERR("ipm_send failed to notify: %d", status);
+	}
+}
+
+const struct virtio_dispatch dispatch = {
+	.get_status = virtio_get_status,
+	.set_status = virtio_set_status,
+	.get_features = virtio_get_features,
+	.set_features = virtio_set_features,
+	.notify = virtio_notify,
+};
+
+static void ipm_callback_process(struct k_work *work)
+{
+	virtqueue_notification(vq[VIRTQUEUE_ID]);
+}
+
+static void ipm_callback(const struct device *dev,
+						void *context, uint32_t id,
+						volatile void *data)
+{
+	(void)dev;
+
+	LOG_DBG("Got callback of id %u", id);
+	/* TODO: Separate workqueue is needed only
+	 * for serialization master (app core)
+	 *
+	 * Use sysworkq to optimize memory footprint
+	 * for serialization slave (net core)
+	 */
+	k_work_submit_to_queue(&ipm_work_q, &ipm_work);
+}
+
+int rpmsg_backend_init(struct metal_io_region **io, struct virtio_device *vdev)
+{
+	int32_t                  err;
+	struct metal_init_params metal_params = METAL_INIT_DEFAULTS;
+	struct metal_device     *device;
+
+	/* Start IPM workqueue */
+	k_work_q_start(&ipm_work_q, ipm_stack_area,
+			   K_THREAD_STACK_SIZEOF(ipm_stack_area),
+			   IPM_WORK_QUEUE_PRIORITY);
+	k_thread_name_set(&ipm_work_q.thread, "ipm_work_q");
+
+	/* Setup IPM workqueue item */
+	k_work_init(&ipm_work, ipm_callback_process);
+
+	/* Libmetal setup */
+	err = metal_init(&metal_params);
+	if (err) {
+		LOG_ERR("metal_init: failed - error code %d", err);
+		return err;
+	}
+
+	err = metal_register_generic_device(&shm_device);
+	if (err) {
+		LOG_ERR("Couldn't register shared memory device: %d", err);
+		return err;
+	}
+
+	err = metal_device_open("generic", SHM_DEVICE_NAME, &device);
+	if (err) {
+		LOG_ERR("metal_device_open failed: %d", err);
+		return err;
+	}
+
+	*io = metal_device_io_region(device, 0);
+	if (!*io) {
+		LOG_ERR("metal_device_io_region failed to get region");
+		return err;
+	}
+
+	/* IPM setup */
+#if defined(CONFIG_RPMSG_SERVICE_DUAL_IPM_SUPPORT)
+	ipm_tx_handle = device_get_binding(CONFIG_RPMSG_SERVICE_IPM_TX_NAME);
+	ipm_rx_handle = device_get_binding(CONFIG_RPMSG_SERVICE_IPM_RX_NAME);
+
+	if (!ipm_tx_handle) {
+		LOG_ERR("Could not get TX IPM device handle");
+		return -ENODEV;
+	}
+
+	if (!ipm_rx_handle) {
+		LOG_ERR("Could not get RX IPM device handle");
+		return -ENODEV;
+	}
+
+	ipm_register_callback(ipm_rx_handle, ipm_callback, NULL);
+#elif defined(CONFIG_RPMSG_SERVICE_SINGLE_IPM_SUPPORT)
+	ipm_handle = device_get_binding(CONFIG_RPMSG_SERVICE_IPM_NAME);
+
+	if (ipm_handle == NULL) {
+		LOG_ERR("Could not get IPM device handle");
+		return -ENODEV;
+	}
+
+	ipm_register_callback(ipm_handle, ipm_callback, NULL);
+
+	err = ipm_set_enabled(ipm_handle, 1);
+	if (err != 0) {
+		LOG_ERR("Could not enable IPM interrupts and callbacks");
+		return err;
+	}
+#endif
+
+	/* Virtqueue setup */
+	vq[0] = virtqueue_allocate(VRING_SIZE);
+	if (!vq[0]) {
+		LOG_ERR("virtqueue_allocate failed to alloc vq[0]");
+		return -ENOMEM;
+	}
+
+	vq[1] = virtqueue_allocate(VRING_SIZE);
+	if (!vq[1]) {
+		LOG_ERR("virtqueue_allocate failed to alloc vq[1]");
+		return -ENOMEM;
+	}
+
+	rvrings[0].io = *io;
+	rvrings[0].info.vaddr = (void *)VRING_TX_ADDRESS;
+	rvrings[0].info.num_descs = VRING_SIZE;
+	rvrings[0].info.align = VRING_ALIGNMENT;
+	rvrings[0].vq = vq[0];
+
+	rvrings[1].io = *io;
+	rvrings[1].info.vaddr = (void *)VRING_RX_ADDRESS;
+	rvrings[1].info.num_descs = VRING_SIZE;
+	rvrings[1].info.align = VRING_ALIGNMENT;
+	rvrings[1].vq = vq[1];
+
+	vdev->role = RPMSG_ROLE;
+	vdev->vrings_num = VRING_COUNT;
+	vdev->func = &dispatch;
+	vdev->vrings_info = &rvrings[0];
+
+	return 0;
+}
+
+#if MASTER
+/* Make sure we clear out the status flag very early (before we bringup the
+ * secondary core) so the secondary core see's the proper status
+ */
+int init_status_flag(const struct device *arg)
+{
+	virtio_set_status(NULL, 0);
+
+	return 0;
+}
+
+SYS_INIT(init_status_flag, PRE_KERNEL_1, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);
+#endif /* MASTER */
diff --git a/subsys/ipc/rpmsg_service/rpmsg_backend.h b/subsys/ipc/rpmsg_service/rpmsg_backend.h
new file mode 100644
index 0000000000000..ab5df7c42979c
--- /dev/null
+++ b/subsys/ipc/rpmsg_service/rpmsg_backend.h
@@ -0,0 +1,44 @@
+/*
+ * Copyright (c) 2021, Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#ifndef ZEPHYR_SUBSYS_IPC_RPMSG_BACKEND_H
+#define ZEPHYR_SUBSYS_IPC_RPMSG_BACKEND_H
+
+#include <openamp/rpmsg_virtio.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define VDEV_START_ADDR		CONFIG_RPMSG_SERVICE_SHM_BASE_ADDRESS
+#define VDEV_SIZE		    CONFIG_RPMSG_SERVICE_SHM_SIZE
+
+#define VDEV_STATUS_ADDR	VDEV_START_ADDR
+#define VDEV_STATUS_SIZE	0x400
+
+#define SHM_START_ADDR		(VDEV_START_ADDR + VDEV_STATUS_SIZE)
+#define SHM_SIZE		    (VDEV_SIZE - VDEV_STATUS_SIZE)
+#define SHM_DEVICE_NAME		"sramx.shm"
+
+/*
+ * @brief Initialize RPMsg backend
+ *
+ * @param io   Shared memory IO region. This is an output parameter providing
+ *             a pointer to an actual shared memory IO region structure.
+ *             Caller of this function shall pass an address at which the
+ *             pointer to the shared memory IO region structure is stored.
+ * @param vdev Pointer to the virtio device initialized by this function.
+ *
+ * @retval 0 Initialization successful
+ * @retval <0 Initialization error reported by OpenAMP
+ */
+int rpmsg_backend_init(struct metal_io_region **io, struct virtio_device *vdev);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ZEPHYR_SUBSYS_IPC_RPMSG_BACKEND_H */
diff --git a/subsys/ipc/rpmsg_service/rpmsg_service.c b/subsys/ipc/rpmsg_service/rpmsg_service.c
new file mode 100644
index 0000000000000..44ce0a9b0a5a1
--- /dev/null
+++ b/subsys/ipc/rpmsg_service/rpmsg_service.c
@@ -0,0 +1,164 @@
+/*
+ * Copyright (c) 2020-2021, Nordic Semiconductor ASA
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <ipc/rpmsg_service.h>
+
+#include "rpmsg_backend.h"
+
+#include <zephyr.h>
+#include <device.h>
+#include <logging/log.h>
+
+#include <openamp/open_amp.h>
+
+#define LOG_LEVEL LOG_LEVEL_INFO
+#define LOG_MODULE_NAME rpmsg_service
+LOG_MODULE_REGISTER(LOG_MODULE_NAME);
+
+#define MASTER IS_ENABLED(CONFIG_RPMSG_SERVICE_MODE_MASTER)
+
+static struct virtio_device vdev;
+static struct rpmsg_virtio_device rvdev;
+static struct metal_io_region *io;
+static bool ep_crt_started;
+
+#if MASTER
+static struct rpmsg_virtio_shm_pool shpool;
+#endif
+
+static struct {
+	const char *name;
+	rpmsg_ept_cb cb;
+	struct rpmsg_endpoint ep;
+	volatile bool bound;
+} endpoints[CONFIG_RPMSG_SERVICE_NUM_ENDPOINTS];
+
+static void rpmsg_service_unbind(struct rpmsg_endpoint *ep)
+{
+	rpmsg_destroy_ept(ep);
+}
+
+#if MASTER
+
+static void ns_bind_cb(struct rpmsg_device *rdev,
+					const char *name,
+					uint32_t dest)
+{
+	int err;
+
+	for (int i = 0; i < CONFIG_RPMSG_SERVICE_NUM_ENDPOINTS; ++i) {
+		if (strcmp(name, endpoints[i].name) == 0) {
+			err = rpmsg_create_ept(&endpoints[i].ep,
+						   rdev,
+						   name,
+						   RPMSG_ADDR_ANY,
+						   dest,
+						   endpoints[i].cb,
+						   rpmsg_service_unbind);
+
+			if (err != 0) {
+				LOG_ERR("Creating remote endpoint %s"
+					" failed wirh error %d", name, err);
+			} else {
+				endpoints[i].bound = true;
+			}
+
+			return;
+		}
+	}
+
+	LOG_ERR("Remote endpoint %s not registered locally", name);
+}
+
+#endif
+
+static int rpmsg_service_init(const struct device *dev)
+{
+	int32_t err;
+
+	(void)dev;
+
+	LOG_DBG("RPMsg service initialization start");
+
+	err = rpmsg_backend_init(&io, &vdev);
+	if (err) {
+		LOG_ERR("RPMsg backend init failed with error %d", err);
+		return err;
+	}
+
+#if MASTER
+	rpmsg_virtio_init_shm_pool(&shpool, (void *)SHM_START_ADDR, SHM_SIZE);
+	err = rpmsg_init_vdev(&rvdev, &vdev, ns_bind_cb, io, &shpool);
+#else
+	err = rpmsg_init_vdev(&rvdev, &vdev, NULL, io, NULL);
+#endif
+
+	if (err) {
+		LOG_ERR("rpmsg_init_vdev failed %d", err);
+		return err;
+	}
+
+	ep_crt_started = true;
+
+#if !MASTER
+	struct rpmsg_device *rdev;
+
+	rdev = rpmsg_virtio_get_rpmsg_device(&rvdev);
+
+	for (int i = 0; i < CONFIG_RPMSG_SERVICE_NUM_ENDPOINTS; ++i) {
+		if (endpoints[i].name) {
+			err = rpmsg_create_ept(&endpoints[i].ep,
+						rdev,
+						endpoints[i].name,
+						RPMSG_ADDR_ANY,
+						RPMSG_ADDR_ANY,
+						endpoints[i].cb,
+						rpmsg_service_unbind);
+
+			if (err) {
+				LOG_ERR("rpmsg_create_ept failed %d", err);
+				return err;
+			}
+		}
+	}
+#endif
+
+	LOG_DBG("RPMsg service initialized");
+
+	return 0;
+}
+
+int rpmsg_service_register_endpoint(const char *name, rpmsg_ept_cb cb)
+{
+	if (ep_crt_started) {
+		return -EINPROGRESS;
+	}
+
+	for (int i = 0; i < CONFIG_RPMSG_SERVICE_NUM_ENDPOINTS; ++i) {
+		if (!endpoints[i].name) {
+			endpoints[i].name = name;
+			endpoints[i].cb = cb;
+
+			return i;
+		}
+	}
+
+	LOG_ERR("No free slots to register endpoint %s", name);
+
+	return -ENOMEM;
+}
+
+bool rpmsg_service_endpoint_is_bound(int endpoint_id)
+{
+	return endpoints[endpoint_id].bound;
+}
+
+int rpmsg_service_send(int endpoint_id, const void *data, size_t len)
+{
+	return rpmsg_send(&endpoints[endpoint_id].ep, data, len);
+}
+
+SYS_INIT(rpmsg_service_init, POST_KERNEL, CONFIG_RPMSG_SERVICE_INIT_PRIORITY);
diff --git a/west.yml b/west.yml
index ae79cd3bcc958..87993d380709d 100644
--- a/west.yml
+++ b/west.yml
@@ -57,7 +57,7 @@ manifest:
       revision: f1fa8241f8786198ba41155413243de36ed878a5
       path: modules/hal/infineon
     - name: hal_nordic
-      revision: f163c53b88c33070cb28150ba20200e4aa5fdc49
+      revision: 74e4ab0185a9a53d03bf382d4bfe5ec81e05b5e4
       path: modules/hal/nordic
     - name: hal_openisa
       revision: 40d049f69c50b58ea20473bee14cf93f518bf262