diff --git a/arch/arm64/boot/dts/ti/k3-am62p-main.dtsi b/arch/arm64/boot/dts/ti/k3-am62p-main.dtsi
index 7337a9e13535..46d35036d2d5 100644
--- a/arch/arm64/boot/dts/ti/k3-am62p-main.dtsi
+++ b/arch/arm64/boot/dts/ti/k3-am62p-main.dtsi
@@ -635,6 +635,56 @@ sdhci2: mmc@fa20000 {
 		status = "disabled";
 	};
 
+	usbss0: usb@f900000 {
+		compatible = "ti,am62-usb";
+		reg = <0x00 0x0f900000 0x00 0x800>;
+		clocks = <&k3_clks 161 3>;
+		clock-names = "ref";
+		ti,syscon-phy-pll-refclk = <&usb0_phy_ctrl 0x0>;
+		#address-cells = <2>;
+		#size-cells = <2>;
+		power-domains = <&k3_pds 178 TI_SCI_PD_EXCLUSIVE>;
+		ranges;
+		status = "disabled";
+
+		usb0: usb@31000000 {
+			compatible = "snps,dwc3";
+			reg = <0x00 0x31000000 0x00 0x50000>;
+			interrupts = <GIC_SPI 188 IRQ_TYPE_LEVEL_HIGH>, /* irq.0 */
+			<GIC_SPI 188 IRQ_TYPE_LEVEL_HIGH>; /* irq.0 */
+			interrupt-names = "host", "peripheral";
+			maximum-speed = "high-speed";
+			dr_mode = "otg";
+			snps,usb2-gadget-lpm-disable;
+			snps,usb2-lpm-disable;
+		};
+	};
+
+	usbss1: usb@f910000 {
+		compatible = "ti,am62-usb";
+		reg = <0x00 0x0f910000 0x00 0x800>;
+		clocks = <&k3_clks 162 3>;
+		clock-names = "ref";
+		ti,syscon-phy-pll-refclk = <&usb1_phy_ctrl 0x0>;
+		#address-cells = <2>;
+		#size-cells = <2>;
+		power-domains = <&k3_pds 179 TI_SCI_PD_EXCLUSIVE>;
+		ranges;
+		status = "disabled";
+
+		usb1: usb@31100000 {
+			compatible = "snps,dwc3";
+			reg = <0x00 0x31100000 0x00 0x50000>;
+			interrupts = <GIC_SPI 226 IRQ_TYPE_LEVEL_HIGH>, /* irq.0 */
+			<GIC_SPI 226 IRQ_TYPE_LEVEL_HIGH>; /* irq.0 */
+			interrupt-names = "host", "peripheral";
+			maximum-speed = "high-speed";
+			dr_mode = "otg";
+			snps,usb2-gadget-lpm-disable;
+			snps,usb2-lpm-disable;
+		};
+	};
+
 	fss: bus@fc00000 {
 		compatible = "simple-bus";
 		reg = <0x00 0x0fc00000 0x00 0x70000>;
diff --git a/arch/arm64/boot/dts/ti/k3-am62p-wakeup.dtsi b/arch/arm64/boot/dts/ti/k3-am62p-wakeup.dtsi
index a84756c336d0..c71d9624ea27 100644
--- a/arch/arm64/boot/dts/ti/k3-am62p-wakeup.dtsi
+++ b/arch/arm64/boot/dts/ti/k3-am62p-wakeup.dtsi
@@ -18,6 +18,16 @@ chipid: chipid@14 {
 			reg = <0x14 0x4>;
 			bootph-all;
 		};
+
+		usb0_phy_ctrl: syscon@4008 {
+			compatible = "ti,am62-usb-phy-ctrl", "syscon";
+			reg = <0x4008 0x4>;
+		};
+
+		usb1_phy_ctrl: syscon@4018 {
+			compatible = "ti,am62-usb-phy-ctrl", "syscon";
+			reg = <0x4018 0x4>;
+		};
 	};
 
 	wkup_uart0: serial@2b300000 {
diff --git a/arch/arm64/boot/dts/ti/k3-am62p5-sk.dts b/arch/arm64/boot/dts/ti/k3-am62p5-sk.dts
index e86f34e835c1..b63888a4842d 100644
--- a/arch/arm64/boot/dts/ti/k3-am62p5-sk.dts
+++ b/arch/arm64/boot/dts/ti/k3-am62p5-sk.dts
@@ -27,6 +27,8 @@ aliases {
 		spi0 = &ospi0;
 		ethernet0 = &cpsw_port1;
 		ethernet1 = &cpsw_port2;
+		usb0 = &usb0;
+		usb1 = &usb1;
 	};
 
 	chosen {
@@ -297,6 +299,12 @@ AM62PX_IOPAD(0x01b0, PIN_OUTPUT, 2) /* (G20) MCASP0_ACLKR.UART1_TXD */
 		bootph-all;
 	};
 
+	main_usb1_pins_default: main-usb1-default-pins {
+		pinctrl-single,pins = <
+			AM62PX_IOPAD(0x0258, PIN_INPUT, 0) /* (G21) USB1_DRVVBUS */
+		>;
+	};
+
 	main_wlirq_pins_default: main-wlirq-default-pins {
 		pinctrl-single,pins = <
 			AM62PX_IOPAD(0x0128, PIN_INPUT, 7) /* (K25) MMC2_SDWP.GPIO0_72 */
@@ -340,6 +348,36 @@ AM62PX_IOPAD(0x0124, PIN_INPUT, 7) /* (J25) MMC2_SDCD.GPIO0_71 */
 	};
 };
 
+&main_i2c0 {
+	status = "okay";
+	pinctrl-names = "default";
+	pinctrl-0 = <&main_i2c0_pins_default>;
+	clock-frequency = <400000>;
+
+	typec_pd0: usb-power-controller@3f {
+		compatible = "ti,tps6598x";
+		reg = <0x3f>;
+
+		connector {
+			compatible = "usb-c-connector";
+			label = "USB-C";
+			self-powered;
+			data-role = "dual";
+			power-role = "sink";
+			ports {
+				#address-cells = <1>;
+				#size-cells = <0>;
+				port@0 {
+					reg = <0>;
+					usb_con_hs: endpoint {
+						remote-endpoint = <&usb0_hs_ep>;
+					};
+				};
+			};
+		};
+	};
+};
+
 &main_i2c1 {
 	status = "okay";
 	pinctrl-names = "default";
@@ -463,6 +501,35 @@ cpsw3g_phy1: ethernet-phy@1 {
 	};
 };
 
+&usbss0 {
+	status = "okay";
+	ti,vbus-divider;
+};
+
+&usbss1 {
+	status = "okay";
+	ti,vbus-divider;
+};
+
+&usb0 {
+	usb-role-switch;
+	#address-cells = <1>;
+	#size-cells = <0>;
+
+	port@0 {
+		reg = <0>;
+		usb0_hs_ep: endpoint {
+			remote-endpoint = <&usb_con_hs>;
+		};
+	};
+};
+
+&usb1 {
+	dr_mode = "host";
+	pinctrl-names = "default";
+	pinctrl-0 = <&main_usb1_pins_default>;
+};
+
 &mcasp1 {
 	status = "okay";
 	#sound-dai-cells = <0>;
