diff --git a/embassy-rp/src/gpio.rs b/embassy-rp/src/gpio.rs
index 28dfce476..aa3c3a646 100644
--- a/embassy-rp/src/gpio.rs
+++ b/embassy-rp/src/gpio.rs
@@ -131,6 +131,15 @@ impl<'d, T: Pin> Output<'d, T> {
         let val = 1 << self.pin.pin();
         unsafe { (self.pin.sio_out().value().read() & val) == 0 }
     }
+
+    /// Toggle pin output
+    #[inline]
+    pub fn toggle(&mut self) {
+        let val = 1 << self.pin.pin();
+        unsafe {
+            self.pin.sio_out().value_xor().write_value(val);
+        }
+    }
 }
 
 impl<'d, T: Pin> Drop for Output<'d, T> {
@@ -295,6 +304,14 @@ mod eh02 {
             Ok(self.is_set_low())
         }
     }
+
+    impl<'d, T: Pin> embedded_hal_02::digital::v2::ToggleableOutputPin for Output<'d, T> {
+        type Error = Infallible;
+        #[inline]
+        fn toggle(&mut self) -> Result<(), Self::Error> {
+            Ok(self.toggle())
+        }
+    }
 }
 
 #[cfg(feature = "unstable-traits")]