diff --git a/Adafruit_Fingerprint.cpp b/Adafruit_Fingerprint.cpp
index 34e4fe1..8df1c55 100644
--- a/Adafruit_Fingerprint.cpp
+++ b/Adafruit_Fingerprint.cpp
@@ -131,6 +131,23 @@ void Adafruit_Fingerprint::begin(uint32_t baudrate) {
 #endif
 }
 
+#if defined(ESP32)
+/**************************************************************************/
+/*!
+    @brief  Initializes serial interface and baud rate
+    @param  baudrate Sensor's UART baud rate (usually 57600, 9600 or 115200)
+    @param  rxPin pin
+    @param  txPin pin
+*/
+/**************************************************************************/
+void Adafruit_Fingerprint::begin(uint32_t baudrate, int8_t rxPin,
+                                 int8_t txPin) {
+  delay(1000); // one second delay to let the sensor 'boot up'
+
+  hwSerial->begin(baudrate, SERIAL_8N1, rxPin, txPin);
+}
+#endif
+
 /**************************************************************************/
 /*!
     @brief  Verifies the sensors' access password (default password is
diff --git a/Adafruit_Fingerprint.h b/Adafruit_Fingerprint.h
index b6263b8..addc0f7 100644
--- a/Adafruit_Fingerprint.h
+++ b/Adafruit_Fingerprint.h
@@ -168,6 +168,9 @@ class Adafruit_Fingerprint {
   Adafruit_Fingerprint(Stream *serial, uint32_t password = 0x0);
 
   void begin(uint32_t baud);
+#if defined(ESP32)
+  void begin(uint32_t baud, int8_t rxPin, int8_t txPin);
+#endif
 
   boolean verifyPassword(void);
   uint8_t getParameters(void);