diff --git a/adafruit_lsm6ds.py b/adafruit_lsm6ds.py
index 813b98a..67de186 100644
--- a/adafruit_lsm6ds.py
+++ b/adafruit_lsm6ds.py
@@ -74,6 +74,7 @@
 _LSM6DS_CTRL_5_C = const(0x14)
 _LSM6DS_MASTER_CONFIG = const(0x14)
 _LSM6DS_CTRL9_XL = const(0x18)
+_LSM6DS_CTRL10_C = const(0x19)
 _LSM6DS_OUT_TEMP_L = const(0x20)
 _LSM6DS_OUT_TEMP_H = const(0x21)
 _LSM6DS_OUTX_L_G = const(0x22)
@@ -88,6 +89,8 @@
 _LSM6DS_OUTY_H_A = const(0x2B)
 _LSM6DS_OUTZ_L_A = const(0x2C)
 _LSM6DS_OUTZ_H_A = const(0x2D)
+_LSM6DS_STEP_COUNTER = const(0x4B)
+_LSM6DS_TAP_CFG = const(0x58)
 
 _MILLI_G_TO_ACCEL = 0.00980665
 
@@ -209,10 +212,16 @@ class LSM6DS: #pylint: disable=too-many-instance-attributes
     _i3c_disable = RWBit(_LSM6DS_CTRL9_XL, 1)
 
     _raw_temp = ROUnaryStruct(_LSM6DS_OUT_TEMP_L, "<h")
-
     _raw_accel_data = Struct(_LSM6DS_OUTX_L_A, "<hhh")
     _raw_gyro_data = Struct(_LSM6DS_OUTX_L_G, "<hhh")
+
+    pedometer_steps = ROUnaryStruct(_LSM6DS_STEP_COUNTER, "<h")
+    pedometer_reset = RWBit(_LSM6DS_CTRL10_C, 1)
+    _ped_enable = RWBit(_LSM6DS_TAP_CFG, 6)
+    _func_enable = RWBit(_LSM6DS_CTRL10_C, 2)
+
     CHIP_ID = None
+
     def __init__(self, i2c_bus, address=_LSM6DS_DEFAULT_ADDRESS):
         self._cached_accel_range = None
         self._cached_gyro_range = None
@@ -340,6 +349,17 @@ def gyro_data_rate(self, value):
         self._gyro_data_rate = value
         # sleep(.2) # needed to let new range settle
 
+    @property
+    def pedometer_enable(self):
+        """ Whether the pedometer function on the accelerometer is enabled"""
+        return self._ped_enable and self._func_enable
+
+    @pedometer_enable.setter
+    def pedometer_enable(self, enable):
+        self._ped_enable = enable
+        self._func_enable = enable
+        self.pedometer_reset = enable
+
 class LSM6DSOX(LSM6DS): #pylint: disable=too-many-instance-attributes
 
     """Driver for the LSM6DSOX 6-axis accelerometer and gyroscope.
diff --git a/examples/lsm6ds_pedometer.py b/examples/lsm6ds_pedometer.py
new file mode 100644
index 0000000..2913716
--- /dev/null
+++ b/examples/lsm6ds_pedometer.py
@@ -0,0 +1,26 @@
+""" This example shows off how to use the step counter built
+into the ST LSM6DS series IMUs. The steps are calculated in
+the chip so you don't have to do any calculations!"""
+
+import time
+import board
+import busio
+#pylint:disable=no-member
+from adafruit_lsm6ds import LSM6DS33, Rate, AccelRange
+
+i2c = busio.I2C(board.SCL, board.SDA)
+
+sensor = LSM6DS33(i2c)
+
+# enable accelerometer sensor @ 2G and 26 Hz
+sensor.accelerometer_range = AccelRange.RANGE_2G
+sensor.accelerometer_data_rate = Rate.RATE_26_HZ
+# no gyro used for step detection
+sensor.gyro_data_rate = Rate.RATE_SHUTDOWN
+
+#enable the pedometer
+sensor.pedometer_enable = True
+
+while True:
+    print("Steps: ", sensor.pedometer_steps)
+    time.sleep(1)