diff --git a/CHANGELOG.md b/CHANGELOG.md
index 99a2a6778..6c950c433 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -15,6 +15,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Add initial support for the ESP32-H2 (#513)
 - Add bare-bones PSRAM support for ESP32-S3 (#517)
 - Add async support to the I2C driver (#519)
+- Add initial support for RSA in ESP32-H2 (#526)
 - Add initial support for SHA in ESP32-H2 (#527)
 - Add initial support for AES in ESP32-H2 (#528)
 - Add blinky_erased_pins example for ESP32-H2 (#530)
diff --git a/esp-hal-common/devices/esp32h2.toml b/esp-hal-common/devices/esp32h2.toml
index d4034ce67..6eaf69b59 100644
--- a/esp-hal-common/devices/esp32h2.toml
+++ b/esp-hal-common/devices/esp32h2.toml
@@ -41,7 +41,7 @@ peripherals = [
     # "pmu",
     # "rmt",
     # "rng",
-    # "rsa",
+    "rsa",
     "sha",
     # "soc_etm",
     # "spi0",
diff --git a/esp-hal-common/src/rsa/mod.rs b/esp-hal-common/src/rsa/mod.rs
index b02673738..258ae70cb 100644
--- a/esp-hal-common/src/rsa/mod.rs
+++ b/esp-hal-common/src/rsa/mod.rs
@@ -28,6 +28,7 @@ use crate::{
 #[cfg_attr(esp32s3, path = "esp32sX.rs")]
 #[cfg_attr(esp32c3, path = "esp32cX.rs")]
 #[cfg_attr(esp32c6, path = "esp32cX.rs")]
+#[cfg_attr(esp32h2, path = "esp32cX.rs")]
 #[cfg_attr(esp32, path = "esp32.rs")]
 mod rsa_spec_impl;
 
diff --git a/esp-hal-common/src/soc/esp32h2/peripherals.rs b/esp-hal-common/src/soc/esp32h2/peripherals.rs
index b9ae314ad..2e790f1be 100644
--- a/esp-hal-common/src/soc/esp32h2/peripherals.rs
+++ b/esp-hal-common/src/soc/esp32h2/peripherals.rs
@@ -43,7 +43,7 @@ crate::peripherals! {
     // PMU => true,
     // RMT => true,
     // RNG => true,
-    // RSA => true,
+    RSA => true,
     SHA => true,
     // SOC_ETM => true,
     // SPI0 => true,
diff --git a/esp32c6-hal/examples/rsa.rs b/esp32c6-hal/examples/rsa.rs
index 6c4e69ae9..a69f79c33 100644
--- a/esp32c6-hal/examples/rsa.rs
+++ b/esp32c6-hal/examples/rsa.rs
@@ -60,8 +60,6 @@ fn main() -> ! {
     let mut system = peripherals.PCR.split();
     let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
 
-    // Disable the watchdog timers. For the ESP32-C6, this includes the Super WDT,
-    // and the TIMG WDTs.
     // Disable the watchdog timers. For the ESP32-C6, this includes the Super WDT,
     // and the TIMG WDTs.
     let mut rtc = Rtc::new(peripherals.LP_CLKRST);
@@ -83,11 +81,6 @@ fn main() -> ! {
     wdt0.disable();
     wdt1.disable();
 
-    rtc.swd.disable();
-    rtc.rwdt.disable();
-    wdt0.disable();
-    wdt1.disable();
-
     let mut rsa = Rsa::new(peripherals.RSA, &mut system.peripheral_clock_control);
 
     block!(rsa.ready()).unwrap();
diff --git a/esp32h2-hal/Cargo.toml b/esp32h2-hal/Cargo.toml
index a4b5852cb..71d195dbb 100644
--- a/esp32h2-hal/Cargo.toml
+++ b/esp32h2-hal/Cargo.toml
@@ -37,6 +37,7 @@ esp-hal-common     = { version = "0.9.0",  features = ["esp32h2"], path = "../es
 [dev-dependencies]
 aes               = "0.8.2"
 critical-section  = "1.1.1"
+crypto-bigint     = { version = "0.5.2", default-features = false }
 embassy-executor  = { version = "0.2.0", features = ["nightly", "integrated-timers"] }
 embedded-graphics = "0.7.1"
 esp-backtrace     = { version = "0.7.0", features = ["esp32h2", "panic-handler", "exception-handler", "print-uart"] }
diff --git a/esp32h2-hal/examples/rsa.rs b/esp32h2-hal/examples/rsa.rs
new file mode 100644
index 000000000..63a25b932
--- /dev/null
+++ b/esp32h2-hal/examples/rsa.rs
@@ -0,0 +1,178 @@
+#![no_std]
+#![no_main]
+
+use crypto_bigint::{
+    modular::runtime_mod::{DynResidue, DynResidueParams},
+    Encoding,
+    Uint,
+    U1024,
+    U512,
+};
+use esp32h2_hal::{
+    clock::ClockControl,
+    peripherals::Peripherals,
+    prelude::*,
+    rsa::{
+        operand_sizes,
+        Rsa,
+        RsaModularExponentiation,
+        RsaModularMultiplication,
+        RsaMultiplication,
+    },
+    systimer::SystemTimer,
+    timer::TimerGroup,
+    Rtc,
+};
+use esp_backtrace as _;
+use esp_println::println;
+use nb::block;
+
+const BIGNUM_1: U512 = Uint::from_be_hex(
+    "c7f61058f96db3bd87dbab08ab03b4f7f2f864eac249144adea6a65f97803b719d8ca980b7b3c0389c1c7c6\
+7dc353c5e0ec11f5fc8ce7f6073796cc8f73fa878",
+);
+const BIGNUM_2: U512 = Uint::from_be_hex(
+    "1763db3344e97be15d04de4868badb12a38046bb793f7630d87cf100aa1c759afac15a01f3c4c83ec2d2f66\
+6bd22f71c3c1f075ec0e2cb0cb29994d091b73f51",
+);
+const BIGNUM_3: U512 = Uint::from_be_hex(
+    "6b6bb3d2b6cbeb45a769eaa0384e611e1b89b0c9b45a045aca1c5fd6e8785b38df7118cf5dd45b9b63d293b\
+67aeafa9ba25feb8712f188cb139b7d9b9af1c361",
+);
+
+const fn compute_r(modulus: &U512) -> U512 {
+    let mut d = [0_u32; U512::LIMBS * 2 + 1];
+    d[d.len() - 1] = 1;
+    let d = Uint::from_words(d);
+    d.const_rem(&modulus.resize()).0.resize()
+}
+
+const fn compute_mprime(modulus: &U512) -> u32 {
+    let m_inv = modulus.inv_mod2k(32).to_words()[0];
+    (-1 * m_inv as i64 % 4294967296) as u32
+}
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let mut system = peripherals.PCR.split();
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    // Disable the watchdog timers. For the ESP32-H2, this includes the Super WDT,
+    // and the TIMG WDTs.
+    let mut rtc = Rtc::new(peripherals.LP_CLKRST);
+    let timer_group0 = TimerGroup::new(
+        peripherals.TIMG0,
+        &clocks,
+        &mut system.peripheral_clock_control,
+    );
+    let mut wdt0 = timer_group0.wdt;
+    let timer_group1 = TimerGroup::new(
+        peripherals.TIMG1,
+        &clocks,
+        &mut system.peripheral_clock_control,
+    );
+    let mut wdt1 = timer_group1.wdt;
+
+    rtc.swd.disable();
+    rtc.rwdt.disable();
+    wdt0.disable();
+    wdt1.disable();
+
+    let mut rsa = Rsa::new(peripherals.RSA, &mut system.peripheral_clock_control);
+
+    block!(rsa.ready()).unwrap();
+    mod_exp_example(&mut rsa);
+    mod_multi_example(&mut rsa);
+    multiplication_example(&mut rsa);
+    loop {}
+}
+
+fn mod_multi_example(rsa: &mut Rsa) {
+    let mut outbuf = [0_u8; U512::BYTES];
+    let mut mod_multi = RsaModularMultiplication::<operand_sizes::Op512>::new(
+        rsa,
+        &BIGNUM_1.to_le_bytes(),
+        &BIGNUM_2.to_le_bytes(),
+        &BIGNUM_3.to_le_bytes(),
+        compute_mprime(&BIGNUM_3),
+    );
+    let r = compute_r(&BIGNUM_3).to_le_bytes();
+    let pre_hw_modmul = SystemTimer::now();
+    mod_multi.start_modular_multiplication(&r);
+    block!(mod_multi.read_results(&mut outbuf)).unwrap();
+    let post_hw_modmul = SystemTimer::now();
+    println!(
+        "it took {} cycles for hw modular multiplication",
+        post_hw_modmul - pre_hw_modmul
+    );
+    let residue_params = DynResidueParams::new(&BIGNUM_3);
+    let residue_num1 = DynResidue::new(&BIGNUM_1, residue_params);
+    let residue_num2 = DynResidue::new(&BIGNUM_2, residue_params);
+    let pre_sw_exp = SystemTimer::now();
+    let sw_out = residue_num1.mul(&residue_num2);
+    let post_sw_exp = SystemTimer::now();
+    println!(
+        "it took {} cycles for sw modular multiplication",
+        post_sw_exp - pre_sw_exp
+    );
+    assert_eq!(U512::from_le_bytes(outbuf), sw_out.retrieve());
+    println!("modular multiplication done");
+}
+
+fn mod_exp_example(rsa: &mut Rsa) {
+    rsa.enable_disable_constant_time_acceleration(true);
+    rsa.enable_disable_search_acceleration(true);
+    let mut outbuf = [0_u8; U512::BYTES];
+    let mut mod_exp = RsaModularExponentiation::<operand_sizes::Op512>::new(
+        rsa,
+        &BIGNUM_2.to_le_bytes(),
+        &BIGNUM_3.to_le_bytes(),
+        compute_mprime(&BIGNUM_3),
+    );
+    let r = compute_r(&BIGNUM_3).to_le_bytes();
+    let base = &BIGNUM_1.to_le_bytes();
+    let pre_hw_exp = SystemTimer::now();
+    mod_exp.start_exponentiation(&base, &r);
+    block!(mod_exp.read_results(&mut outbuf)).unwrap();
+    let post_hw_exp = SystemTimer::now();
+    println!(
+        "it took {} cycles for hw modular exponentiation",
+        post_hw_exp - pre_hw_exp
+    );
+    let residue_params = DynResidueParams::new(&BIGNUM_3);
+    let residue = DynResidue::new(&BIGNUM_1, residue_params);
+    let pre_sw_exp = SystemTimer::now();
+    let sw_out = residue.pow(&BIGNUM_2);
+    let post_sw_exp = SystemTimer::now();
+    println!(
+        "it took {} cycles for sw modular exponentiation",
+        post_sw_exp - pre_sw_exp
+    );
+    assert_eq!(U512::from_le_bytes(outbuf), sw_out.retrieve());
+    println!("modular exponentiation done");
+}
+
+fn multiplication_example(rsa: &mut Rsa) {
+    let mut out = [0_u8; U1024::BYTES];
+    let operand_a = &BIGNUM_1.to_le_bytes();
+    let operand_b = &BIGNUM_2.to_le_bytes();
+    let mut rsamulti = RsaMultiplication::<operand_sizes::Op512>::new(rsa, &operand_a);
+    let pre_hw_mul = SystemTimer::now();
+    rsamulti.start_multiplication(&operand_b);
+    block!(rsamulti.read_results(&mut out)).unwrap();
+    let post_hw_mul = SystemTimer::now();
+    println!(
+        "it took {} cycles for hw multiplication",
+        post_hw_mul - pre_hw_mul
+    );
+    let pre_sw_mul = SystemTimer::now();
+    let sw_out = BIGNUM_1.mul_wide(&BIGNUM_2);
+    let post_sw_mul = SystemTimer::now();
+    println!(
+        "it took {} cycles for sw multiplication",
+        post_sw_mul - pre_sw_mul
+    );
+    assert_eq!(U1024::from_le_bytes(out), sw_out.1.concat(&sw_out.0));
+    println!("multiplication done");
+}