diff --git a/embassy-time/src/lib.rs b/embassy-time/src/lib.rs
index d27eb92f6..e7efce49c 100644
--- a/embassy-time/src/lib.rs
+++ b/embassy-time/src/lib.rs
@@ -32,7 +32,7 @@ pub use delay::{block_for, Delay};
 pub use duration::Duration;
 pub use embassy_time_driver::TICK_HZ;
 pub use instant::Instant;
-pub use timer::{with_timeout, Ticker, TimeoutError, Timer};
+pub use timer::{timeout_at, with_timeout, Ticker, TimeoutError, Timer};
 
 const fn gcd(a: u64, b: u64) -> u64 {
     if b == 0 {
diff --git a/embassy-time/src/timer.rs b/embassy-time/src/timer.rs
index 565a65cb8..dbce9297c 100644
--- a/embassy-time/src/timer.rs
+++ b/embassy-time/src/timer.rs
@@ -8,7 +8,7 @@ use futures_util::{pin_mut, Stream};
 
 use crate::{Duration, Instant};
 
-/// Error returned by [`with_timeout`] on timeout.
+/// Error returned by [`with_timeout`] and [`timeout_at`] on timeout.
 #[derive(Debug, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub struct TimeoutError;
@@ -26,6 +26,19 @@ pub async fn with_timeout<F: Future>(timeout: Duration, fut: F) -> Result<F::Out
     }
 }
 
+/// Runs a given future with a deadline time.
+///
+/// If the future completes before the deadline, its output is returned. Otherwise, on timeout,
+/// work on the future is stopped (`poll` is no longer called), the future is dropped and `Err(TimeoutError)` is returned.
+pub async fn timeout_at<F: Future>(at: Instant, fut: F) -> Result<F::Output, TimeoutError> {
+    let timeout_fut = Timer::at(at);
+    pin_mut!(fut);
+    match select(fut, timeout_fut).await {
+        Either::Left((r, _)) => Ok(r),
+        Either::Right(_) => Err(TimeoutError),
+    }
+}
+
 /// A future that completes at a specified [Instant](struct.Instant.html).
 #[must_use = "futures do nothing unless you `.await` or poll them"]
 pub struct Timer {
diff --git a/examples/rp/src/bin/debounce.rs b/examples/rp/src/bin/debounce.rs
new file mode 100644
index 000000000..bf1579091
--- /dev/null
+++ b/examples/rp/src/bin/debounce.rs
@@ -0,0 +1,80 @@
+//! This example shows the ease of debouncing a button with async rust.
+//! Hook up a button or switch between pin 9 and ground.
+
+#![no_std]
+#![no_main]
+
+use defmt::info;
+use embassy_executor::Spawner;
+use embassy_rp::gpio::{Input, Level, Pull};
+use embassy_time::{timeout_at, Duration, Instant, Timer};
+use {defmt_rtt as _, panic_probe as _};
+
+pub struct Debouncer<'a> {
+    input: Input<'a>,
+    debounce: Duration,
+}
+
+impl<'a> Debouncer<'a> {
+    pub fn new(input: Input<'a>, debounce: Duration) -> Self {
+        Self { input, debounce }
+    }
+
+    pub async fn debounce(&mut self) -> Level {
+        loop {
+            let l1 = self.input.get_level();
+
+            self.input.wait_for_any_edge().await;
+
+            Timer::after(self.debounce).await;
+
+            let l2 = self.input.get_level();
+            if l1 != l2 {
+                break l2;
+            }
+        }
+    }
+}
+
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+    let p = embassy_rp::init(Default::default());
+    let mut btn = Debouncer::new(Input::new(p.PIN_9, Pull::Up), Duration::from_millis(20));
+
+    info!("Debounce Demo");
+
+    loop {
+        // button pressed
+        btn.debounce().await;
+        let start = Instant::now();
+        info!("Button Press");
+
+        match timeout_at(start + Duration::from_secs(1), btn.debounce()).await {
+            // Button Released < 1s
+            Ok(_) => {
+                info!("Button pressed for: {}ms", start.elapsed().as_millis());
+                continue;
+            }
+            // button held for > 1s
+            Err(_) => {
+                info!("Button Held");
+            }
+        }
+
+        match timeout_at(start + Duration::from_secs(5), btn.debounce()).await {
+            // Button released <5s
+            Ok(_) => {
+                info!("Button pressed for: {}ms", start.elapsed().as_millis());
+                continue;
+            }
+            // button held for > >5s
+            Err(_) => {
+                info!("Button Long Held");
+            }
+        }
+
+        // wait for button release before handling another press
+        btn.debounce().await;
+        info!("Button pressed for: {}ms", start.elapsed().as_millis());
+    }
+}