diff --git a/tests/touch/test_touch.py b/tests/touch/test_touch.py
new file mode 100644
index 00000000000..dc80b6dfaa4
--- /dev/null
+++ b/tests/touch/test_touch.py
@@ -0,0 +1,2 @@
+def test_touch(dut):
+    dut.expect_unity_test_output(timeout=240)
diff --git a/tests/touch/touch.ino b/tests/touch/touch.ino
new file mode 100644
index 00000000000..d250f179d87
--- /dev/null
+++ b/tests/touch/touch.ino
@@ -0,0 +1,198 @@
+#include <unity.h>
+#include "soc/soc_caps.h"
+
+#if SOC_TOUCH_SENSOR_NUM > 0
+
+#include "driver/touch_pad.h"
+
+#if CONFIG_IDF_TARGET_ESP32
+
+#define TEST_TOUCH_CHANNEL   (9)
+static touch_pad_t touch_list[TEST_TOUCH_CHANNEL] = {
+    TOUCH_PAD_NUM0,
+    //TOUCH_PAD_NUM1 is GPIO0, for download.
+    TOUCH_PAD_NUM2,
+    TOUCH_PAD_NUM3,
+    TOUCH_PAD_NUM4,
+    TOUCH_PAD_NUM5,
+    TOUCH_PAD_NUM6,
+    TOUCH_PAD_NUM7,
+    TOUCH_PAD_NUM8,
+    TOUCH_PAD_NUM9
+};
+
+uint8_t TOUCH_GPIOS[] = {4,2,15,13,12,14,27,33,32};
+
+#define NO_TOUCH_GPIO 25
+
+#define RELEASED_VALUE        80 //80+ read value to pass test
+#define PRESSED_VALUE         20 //20- read value to pass test
+#define INTERRUPT_THRESHOLD   40
+
+#else //ESP32S2 and ESP32S3
+
+#define TEST_TOUCH_CHANNEL   (12) //14
+static touch_pad_t touch_list[TEST_TOUCH_CHANNEL] = {
+    TOUCH_PAD_NUM1,
+    TOUCH_PAD_NUM2,
+    TOUCH_PAD_NUM3,
+    TOUCH_PAD_NUM4,
+    TOUCH_PAD_NUM5,
+    TOUCH_PAD_NUM6,
+    TOUCH_PAD_NUM7,
+    TOUCH_PAD_NUM8,
+    TOUCH_PAD_NUM9,
+    TOUCH_PAD_NUM10,
+    TOUCH_PAD_NUM11,
+    TOUCH_PAD_NUM12
+    //TOUCH_PAD_NUM13, //Wrong reading
+    //TOUCH_PAD_NUM14
+};
+
+uint8_t TOUCH_GPIOS[] = {1,2,3,4,5,6,7,8,9,10,11,12/*,13,14*/};
+
+#define NO_TOUCH_GPIO 17
+
+#if CONFIG_IDF_TARGET_ESP32S2
+  #define RELEASED_VALUE        10000 //10000- read value to pass test
+  #define PRESSED_VALUE         42000 //40000+ read value to pass test
+  #define INTERRUPT_THRESHOLD   30000
+#elif CONFIG_IDF_TARGET_ESP32S3
+  #define RELEASED_VALUE        25000 //25000- read value to pass test
+  #define PRESSED_VALUE         100000 //150000+ read value to pass test
+  #define INTERRUPT_THRESHOLD   80000
+#else
+  #error Test not currently supported on this chip. Please adjust and try again!
+#endif
+
+#endif
+
+bool touch1detected = false;
+bool touch2detected = false;
+
+void gotTouch1() {
+  touch1detected = true;
+}
+
+void gotTouch2() {
+  touch2detected = true;
+}
+
+/*
+ * Change the slope to get larger value from touch sensor.
+ */
+static void test_press_fake(touch_pad_t pad_num) {
+  touch_pad_set_cnt_mode(pad_num, TOUCH_PAD_SLOPE_1, TOUCH_PAD_TIE_OPT_DEFAULT);
+}
+
+/*
+ * Change the slope to get smaller value from touch sensor.
+ */
+static void test_release_fake(touch_pad_t pad_num) {
+  touch_pad_set_cnt_mode(pad_num, TOUCH_PAD_SLOPE_7, TOUCH_PAD_TIE_OPT_DEFAULT);
+}
+
+
+/* These functions are intended to be called before and after each test. */
+void setUp(void) {
+  
+}
+
+void tearDown(void) {
+  for (int i = 0; i < TEST_TOUCH_CHANNEL; i++) {
+          test_release_fake(touch_list[i]);
+  }
+  delay(100);
+}
+  
+/*
+ * Test Touch read on all available channels - compare values if reading is right
+ */
+void test_touch_read(void) {
+
+  //TEST RELEASE STATE
+  for (int i = 0; i < sizeof(TOUCH_GPIOS); i++) {
+        #ifdef CONFIG_IDF_TARGET_ESP32
+          TEST_ASSERT_GREATER_THAN(RELEASED_VALUE, touchRead(TOUCH_GPIOS[i]));
+        #else
+          TEST_ASSERT_LESS_THAN(RELEASED_VALUE, touchRead(TOUCH_GPIOS[i]));
+        #endif
+  }
+
+  // TEST PRESS STATE
+  for (int j = 0; j < TEST_TOUCH_CHANNEL; j++) {
+          test_press_fake(touch_list[j]);
+  }
+  delay(100);
+  
+  for (int k = 0; k < sizeof(TOUCH_GPIOS); k++) {
+        #ifdef CONFIG_IDF_TARGET_ESP32
+          TEST_ASSERT_LESS_THAN(PRESSED_VALUE,touchRead(TOUCH_GPIOS[k]));
+        #else
+          TEST_ASSERT_GREATER_THAN(PRESSED_VALUE, touchRead(TOUCH_GPIOS[k]));
+        #endif
+  }
+}
+
+void test_touch_interrtupt(void) {
+ 
+  touchAttachInterrupt(TOUCH_GPIOS[0], gotTouch1, INTERRUPT_THRESHOLD);
+  touchAttachInterrupt(TOUCH_GPIOS[1], gotTouch2, INTERRUPT_THRESHOLD);
+
+  test_press_fake(touch_list[0]);
+  test_press_fake(touch_list[1]);
+
+  delay(300);
+  
+  touchDetachInterrupt(TOUCH_GPIOS[0]);
+  touchDetachInterrupt(TOUCH_GPIOS[1]);
+  
+  TEST_ASSERT_TRUE(touch1detected);
+  TEST_ASSERT_TRUE(touch2detected);
+}
+
+void test_touch_errors(void) {
+  
+  TEST_ASSERT_FALSE(touchRead(NO_TOUCH_GPIO));
+}
+
+void setup() {
+  Serial.begin(115200);
+  while (!Serial) {
+    ;
+  }
+  
+  UNITY_BEGIN();
+  RUN_TEST(test_touch_read);
+  RUN_TEST(test_touch_interrtupt);
+  RUN_TEST(test_touch_errors);
+  UNITY_END();
+}
+
+void loop() {
+
+}
+
+#else
+//PASS TEST for UNSUPPORTED CHIPS
+
+void test_pass(void){
+  TEST_ASSERT_EQUAL(1, 1);
+}
+
+void setup() {
+  Serial.begin(115200);
+  while (!Serial) {
+    ;
+  }
+  
+  UNITY_BEGIN();
+  RUN_TEST(test_pass);
+  UNITY_END();
+}
+
+void loop() {
+
+}
+
+#endif