diff --git a/cores/esp32/esp32-hal-touch.h b/cores/esp32/esp32-hal-touch.h
index a8cda191c31..e62a4166206 100644
--- a/cores/esp32/esp32-hal-touch.h
+++ b/cores/esp32/esp32-hal-touch.h
@@ -49,7 +49,8 @@ typedef uint32_t touch_value_t;
 void touchSetCycles(uint16_t measure, uint16_t sleep);
 
 /*
- * Read touch pad (values close to 0 mean touch detected)
+ * Read touch pad (for ESP32 values close to 0 mean touch detected /
+ * for ESP32-S2/S3 higher values mean touch detected)
  * You can use this method to chose a good threshold value
  * to use as value for touchAttachInterrupt
  * */
diff --git a/docs/source/api/touch.rst b/docs/source/api/touch.rst
new file mode 100644
index 00000000000..75715ffed70
--- /dev/null
+++ b/docs/source/api/touch.rst
@@ -0,0 +1,128 @@
+#####
+TOUCH
+#####
+
+About
+-----
+
+Touch sensor is a peripheral, that has an internal oscilator circuit and it measures charge/discharge frequency over a fixed period of time on respective GPIO pins. 
+Therefore these touch sensors are also known as capacitive sensors. For example, if you touch any of these pins, finger electrical charge will change this number of cycles, 
+by changing the RC circuit attached to the touch sensor. The TouchRead() will return the number of cycles (charges/discharges) in a certain time (meas). 
+The change of this count will be used to validate if a touch has happened or not. These pins can be easily integrated into capacitive pads, and replace mechanical buttons.
+
+.. note:: Touch peripheral is not present in every SoC. Refer to datasheet of each chip for more info.
+
+Arduino-ESP32 TOUCH API
+-----------------------
+
+TOUCH common API
+****************
+
+touchRead
+^^^^^^^^^
+
+This function gets the touch sensor data. Each touch sensor has a counter to count the number of charge/discharge cycles. When the pad is ‘touched’, 
+the value in the counter will change because of the larger equivalent capacitance. The change of the data determines if the pad has been touched or not.
+
+.. code-block:: arduino
+
+    touch_value_t touchRead(uint8_t pin);
+
+* ``pin`` GPIO pin to read TOUCH value
+  
+This function will return touch pad value as uint16_t (ESP32) or uint32_t (ESP32-S2/S3).
+
+touchSetCycles
+^^^^^^^^^^^^^^
+
+This function is used to set cycles that measurement operation takes. The result from touchRead, threshold and detection accuracy depend on these values.
+The defaults are setting touchRead to take ~0.5ms.
+
+.. code-block:: arduino
+
+    void touchSetCycles(uint16_t measure, uint16_t sleep);
+
+* ``measure`` Sets the time that it takes to measure touch sensor value
+* ``sleep`` Sets waiting time before next measure cycle
+
+touchAttachInterrupt
+^^^^^^^^^^^^^^^^^^^^
+
+This function is used to attach interrupt to the touch pad. The function will be called if a touch sensor value falls below the given 
+threshold for ESP32 or rises above the given threshold for ESP32-S2/S3. To determine a proper threshold value between touched and untouched state, 
+use touchRead() function.
+
+.. code-block:: arduino
+
+    void touchAttachInterrupt(uint8_t pin, void (*userFunc)(void), touch_value_t threshold);
+
+* ``pin`` GPIO TOUCH pad pin
+* ``userFunc`` Function to be called when interrupt is triggered
+* ``threshold`` Sets the threshold when to call interrupt
+
+touchAttachInterruptArg
+^^^^^^^^^^^^^^^^^^^^^^^
+
+This function is used to attach interrupt to the touch pad. In the function called by ISR you have the given arguments available.
+
+.. code-block:: arduino
+
+    void touchAttachInterruptArg(uint8_t pin, void (*userFunc)(void*), void *arg, touch_value_t threshold);
+
+* ``pin`` GPIO TOUCH pad pin
+* ``userFunc`` Function to be called when interrupt is triggered
+* ``arg`` Sets arguments to the interrupt
+* ``threshold`` Sets the threshold when to call interrupt
+
+touchDetachInterrupt
+^^^^^^^^^^^^^^^^^^^^
+
+This function is used to detach interrupt from the touch pad.
+
+.. code-block:: arduino
+
+    void touchDetachInterrupt(uint8_t pin);
+
+* ``pin`` GPIO TOUCH pad pin.
+
+TOUCH API specific for ESP32 chip (TOUCH_V1)
+********************************************
+
+touchInterruptSetThresholdDirection
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This function is used to tell the driver if it shall activate the interrupt if the sensor is lower or higher than
+the threshold value. Default is lower.
+
+.. code-block:: arduino
+
+    void touchInterruptSetThresholdDirection(bool mustbeLower);
+
+TOUCH API specific for ESP32S2 and ESP32S3 chip (TOUCH_V2)
+**********************************************************
+
+touchInterruptGetLastStatus
+^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+This function is used get the lastest ISR status for the touch pad.
+
+.. code-block:: arduino
+
+    bool touchInterruptGetLastStatus(uint8_t pin);
+
+This function returns true if the touch pad has been and continues pressed or false otherwise.  
+
+Example Applications
+********************
+
+Example of reading the touch sensor.
+
+.. literalinclude:: ../../../libraries/ESP32/examples/Touch/TouchRead/TouchRead.ino
+    :language: arduino
+
+A usage example for the touch interrupts.
+
+.. literalinclude:: ../../../libraries/ESP32/examples/Touch/TouchInterrupt/TouchInterrupt.ino
+    :language: arduino
+
+More examples can be found in our repository -> `Touch examples <https://github.com/espressif/arduino-esp32/tree/master/libraries/ESP32/examples/Touch>`_. 
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