diff --git a/components/mbedtls/.build-test-rules.yml b/components/mbedtls/.build-test-rules.yml
deleted file mode 100644
index 06af0d1c0a..0000000000
--- a/components/mbedtls/.build-test-rules.yml
+++ /dev/null
@@ -1,7 +0,0 @@
-# Documentation: .gitlab/ci/README.md#manifest-file-to-control-the-buildtest-apps
-
-components/mbedtls/test_apps:
-  disable_test:
-    - if: IDF_TARGET == "esp32c6"
-      temporary: true
-      reason: target esp32c6 is not supported yet
diff --git a/components/mbedtls/port/esp32c6/bignum.c b/components/mbedtls/port/esp32c6/bignum.c
new file mode 100644
index 0000000000..cbd8ad28c7
--- /dev/null
+++ b/components/mbedtls/port/esp32c6/bignum.c
@@ -0,0 +1,230 @@
+/*
+ * Multi-precision integer library
+ * ESP32 C6 hardware accelerated parts based on mbedTLS implementation
+ *
+ * SPDX-FileCopyrightText: The Mbed TLS Contributors
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * SPDX-FileContributor: 2023 Espressif Systems (Shanghai) CO LTD
+ */
+#include <string.h>
+#include <sys/param.h>
+#include "soc/hwcrypto_periph.h"
+#include "esp_private/periph_ctrl.h"
+#include "mbedtls/bignum.h"
+#include "bignum_impl.h"
+#include "soc/pcr_reg.h"
+#include "soc/periph_defs.h"
+#include "soc/system_reg.h"
+#include "esp_crypto_lock.h"
+
+
+size_t esp_mpi_hardware_words(size_t words)
+{
+    return words;
+}
+
+void esp_mpi_enable_hardware_hw_op( void )
+{
+    esp_crypto_mpi_lock_acquire();
+
+    /* Enable RSA hardware */
+    periph_module_enable(PERIPH_RSA_MODULE);
+
+    REG_CLR_BIT(PCR_RSA_PD_CTRL_REG, PCR_RSA_MEM_PD);
+
+    while (REG_READ(RSA_QUERY_CLEAN_REG) != 1) {
+    }
+    // Note: from enabling RSA clock to here takes about 1.3us
+
+    REG_WRITE(RSA_INT_ENA_REG, 0);
+}
+
+void esp_mpi_disable_hardware_hw_op( void )
+{
+    REG_SET_BIT(PCR_RSA_PD_CTRL_REG, PCR_RSA_MEM_PD);
+
+    /* Disable RSA hardware */
+    periph_module_disable(PERIPH_RSA_MODULE);
+
+    esp_crypto_mpi_lock_release();
+}
+
+void esp_mpi_interrupt_enable( bool enable )
+{
+    REG_WRITE(RSA_INT_ENA_REG, enable);
+}
+
+void esp_mpi_interrupt_clear( void )
+{
+    REG_WRITE(RSA_INT_CLR_REG, 1);
+}
+
+/* Copy mbedTLS MPI bignum 'mpi' to hardware memory block at 'mem_base'.
+
+   If num_words is higher than the number of words in the bignum then
+   these additional words will be zeroed in the memory buffer.
+*/
+static inline void mpi_to_mem_block(uint32_t mem_base, const mbedtls_mpi *mpi, size_t num_words)
+{
+    uint32_t *pbase = (uint32_t *)mem_base;
+    uint32_t copy_words = MIN(num_words, mpi->MBEDTLS_PRIVATE(n));
+
+    /* Copy MPI data to memory block registers */
+    for (int i = 0; i < copy_words; i++) {
+        pbase[i] = mpi->MBEDTLS_PRIVATE(p)[i];
+    }
+
+    /* Zero any remaining memory block data */
+    for (int i = copy_words; i < num_words; i++) {
+        pbase[i] = 0;
+    }
+}
+
+/* Read mbedTLS MPI bignum back from hardware memory block.
+
+   Reads num_words words from block.
+*/
+static inline void mem_block_to_mpi(mbedtls_mpi *x, uint32_t mem_base, int num_words)
+{
+
+    /* Copy data from memory block registers */
+    const size_t REG_WIDTH = sizeof(uint32_t);
+    for (size_t i = 0; i < num_words; i++) {
+        x->MBEDTLS_PRIVATE(p)[i] = REG_READ(mem_base + (i * REG_WIDTH));
+    }
+    /* Zero any remaining limbs in the bignum, if the buffer is bigger
+       than num_words */
+    for (size_t i = num_words; i < x->MBEDTLS_PRIVATE(n); i++) {
+        x->MBEDTLS_PRIVATE(p)[i] = 0;
+    }
+}
+
+
+
+/* Begin an RSA operation. op_reg specifies which 'START' register
+   to write to.
+*/
+static inline void start_op(uint32_t op_reg)
+{
+    /* Clear interrupt status */
+    REG_WRITE(RSA_INT_CLR_REG, 1);
+
+    /* Note: above REG_WRITE includes a memw, so we know any writes
+       to the memory blocks are also complete. */
+
+    REG_WRITE(op_reg, 1);
+}
+
+/* Wait for an RSA operation to complete.
+*/
+static inline void wait_op_complete(void)
+{
+    while (REG_READ(RSA_QUERY_IDLE_REG) != 1)
+    { }
+
+    /* clear the interrupt */
+    REG_WRITE(RSA_INT_CLR_REG, 1);
+}
+
+
+/* Read result from last MPI operation */
+void esp_mpi_read_result_hw_op(mbedtls_mpi *Z, size_t z_words)
+{
+    wait_op_complete();
+    mem_block_to_mpi(Z, RSA_Z_MEM, z_words);
+}
+
+
+/* Z = (X * Y) mod M
+
+   Not an mbedTLS function
+*/
+void esp_mpi_mul_mpi_mod_hw_op(const mbedtls_mpi *X, const mbedtls_mpi *Y, const mbedtls_mpi *M, const mbedtls_mpi *Rinv, mbedtls_mpi_uint Mprime, size_t num_words)
+{
+    REG_WRITE(RSA_MODE_REG, (num_words - 1));
+
+    /* Load M, X, Rinv, Mprime (Mprime is mod 2^32) */
+    mpi_to_mem_block(RSA_X_MEM, X, num_words);
+    mpi_to_mem_block(RSA_Y_MEM, Y, num_words);
+    mpi_to_mem_block(RSA_M_MEM, M, num_words);
+    mpi_to_mem_block(RSA_Z_MEM, Rinv, num_words);
+    REG_WRITE(RSA_M_PRIME_REG, Mprime);
+
+    start_op(RSA_SET_START_MODMULT_REG);
+}
+
+/* Z = (X ^ Y) mod M
+*/
+void esp_mpi_exp_mpi_mod_hw_op(const mbedtls_mpi *X, const mbedtls_mpi *Y, const mbedtls_mpi *M, const mbedtls_mpi *Rinv, mbedtls_mpi_uint Mprime, size_t num_words)
+{
+    size_t y_bits = mbedtls_mpi_bitlen(Y);
+
+    REG_WRITE(RSA_MODE_REG, (num_words - 1));
+
+    /* Load M, X, Rinv, Mprime (Mprime is mod 2^32) */
+    mpi_to_mem_block(RSA_X_MEM, X, num_words);
+    mpi_to_mem_block(RSA_Y_MEM, Y, num_words);
+    mpi_to_mem_block(RSA_M_MEM, M, num_words);
+    mpi_to_mem_block(RSA_Z_MEM, Rinv, num_words);
+    REG_WRITE(RSA_M_PRIME_REG, Mprime);
+
+    /* Enable acceleration options */
+    REG_WRITE(RSA_CONSTANT_TIME_REG, 0);
+    REG_WRITE(RSA_SEARCH_ENABLE_REG, 1);
+    REG_WRITE(RSA_SEARCH_POS_REG, y_bits - 1);
+
+    /* Execute first stage montgomery multiplication */
+    start_op(RSA_SET_START_MODEXP_REG);
+
+    REG_WRITE(RSA_SEARCH_ENABLE_REG, 0);
+}
+
+
+/* Z = X * Y */
+void esp_mpi_mul_mpi_hw_op(const mbedtls_mpi *X, const mbedtls_mpi *Y, size_t num_words)
+{
+    /* Copy X (right-extended) & Y (left-extended) to memory block */
+    mpi_to_mem_block(RSA_X_MEM, X, num_words);
+    mpi_to_mem_block(RSA_Z_MEM + num_words * 4, Y, num_words);
+    /* NB: as Y is left-exte, we don't zero the bottom words_mult words of Y block.
+       This is OK for now bec zeroing is done by hardware when we do esp_mpi_acquire_hardware().
+    */
+    REG_WRITE(RSA_MODE_REG, (num_words * 2 - 1));
+    start_op(RSA_SET_START_MULT_REG);
+}
+
+
+
+/**
+ * @brief Special-case of (X * Y), where we use hardware montgomery mod
+   multiplication to calculate result where either A or B are >2048 bits so
+   can't use the standard multiplication method.
+ *
+ */
+void esp_mpi_mult_mpi_failover_mod_mult_hw_op(const mbedtls_mpi *X, const mbedtls_mpi *Y, size_t num_words)
+{
+    /* M = 2^num_words - 1, so block is entirely FF */
+    for (int i = 0; i < num_words; i++) {
+        REG_WRITE(RSA_M_MEM + i * 4, UINT32_MAX);
+    }
+
+    /* Mprime = 1 */
+    REG_WRITE(RSA_M_PRIME_REG, 1);
+    REG_WRITE(RSA_MODE_REG, num_words - 1);
+
+    /* Load X & Y */
+    mpi_to_mem_block(RSA_X_MEM, X, num_words);
+    mpi_to_mem_block(RSA_Y_MEM, Y, num_words);
+
+    /* Rinv = 1, write first word */
+    REG_WRITE(RSA_Z_MEM, 1);
+
+    /* Zero out rest of the Rinv words */
+    for (int i = 1; i < num_words; i++) {
+        REG_WRITE(RSA_Z_MEM + i * 4, 0);
+    }
+
+    start_op(RSA_SET_START_MODMULT_REG);
+}
diff --git a/components/mbedtls/test_apps/pytest_mbedtls_ut.py b/components/mbedtls/test_apps/pytest_mbedtls_ut.py
index 9963fa9aad..bc3a22263c 100644
--- a/components/mbedtls/test_apps/pytest_mbedtls_ut.py
+++ b/components/mbedtls/test_apps/pytest_mbedtls_ut.py
@@ -1,4 +1,4 @@
-# SPDX-FileCopyrightText: 2022 Espressif Systems (Shanghai) CO LTD
+# SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 
 import pytest
@@ -6,7 +6,6 @@ from pytest_embedded import Dut
 
 
 @pytest.mark.supported_targets
-@pytest.mark.temp_skip_ci(targets=['esp32c6'], reason='test failed')
 @pytest.mark.generic
 def test_mbedtls(dut: Dut) -> None:
     dut.expect_exact('Press ENTER to see the list of tests')
diff --git a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
index c7781b8e8d..0c8765a5ad 100644
--- a/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
+++ b/components/soc/esp32c6/include/soc/Kconfig.soc_caps.in
@@ -111,6 +111,10 @@ config SOC_AES_SUPPORTED
     bool
     default y
 
+config SOC_MPI_SUPPORTED
+    bool
+    default y
+
 config SOC_SHA_SUPPORTED
     bool
     default y
diff --git a/components/soc/esp32c6/include/soc/soc_caps.h b/components/soc/esp32c6/include/soc/soc_caps.h
index d1dd2a4cd9..b4138a8b16 100644
--- a/components/soc/esp32c6/include/soc/soc_caps.h
+++ b/components/soc/esp32c6/include/soc/soc_caps.h
@@ -53,7 +53,7 @@
 #define SOC_SYSTIMER_SUPPORTED          1
 #define SOC_SUPPORT_COEXISTENCE         1
 #define SOC_AES_SUPPORTED               1
-// #define SOC_MPI_SUPPORTED               1
+#define SOC_MPI_SUPPORTED               1
 #define SOC_SHA_SUPPORTED               1
 #define SOC_HMAC_SUPPORTED              1
 #define SOC_DIG_SIGN_SUPPORTED          1
@@ -283,7 +283,6 @@
 #define SOC_MCPWM_CLK_SUPPORT_PLL160M        (1)    ///< Support PLL160M as clock source
 #define SOC_MCPWM_CLK_SUPPORT_XTAL           (1)    ///< Support XTAL as clock source
 
-// TODO: IDF-5359 (Copy from esp32c3, need check)
 /*--------------------------- RSA CAPS ---------------------------------------*/
 #define SOC_RSA_MAX_BIT_LEN    (3072)