diff --git a/include/bluetooth/rfcomm.h b/include/bluetooth/rfcomm.h
index 777f54df196..5470f817cf4 100644
--- a/include/bluetooth/rfcomm.h
+++ b/include/bluetooth/rfcomm.h
@@ -137,6 +137,21 @@ struct bt_rfcomm_server {
  */
 int bt_rfcomm_server_register(struct bt_rfcomm_server *server);
 
+/** @brief Connect RFCOMM channel
+ *
+ *  Connect RFCOMM dlc by channel, once the connection is completed dlc
+ *  connected() callback will be called. If the connection is rejected
+ *  disconnected() callback is called instead.
+ *
+ *  @param conn Connection object.
+ *  @param dlc Dlc object.
+ *  @param channel Server channel to connect to.
+ *
+ *  @return 0 in case of success or negative value in case of error.
+ */
+int bt_rfcomm_dlc_connect(struct bt_conn *conn, struct bt_rfcomm_dlc *dlc,
+			  uint8_t channel);
+
 /** @brief Send data to RFCOMM
  *
  *  Send data from buffer to the dlc. Length should be less than or equal to
diff --git a/subsys/bluetooth/host/rfcomm.c b/subsys/bluetooth/host/rfcomm.c
index f1fa9fe3b01..4920290140b 100644
--- a/subsys/bluetooth/host/rfcomm.c
+++ b/subsys/bluetooth/host/rfcomm.c
@@ -190,6 +190,22 @@ static struct bt_rfcomm_server *rfcomm_server_lookup_channel(uint8_t channel)
 	return NULL;
 }
 
+static struct bt_rfcomm_session *
+rfcomm_sessions_lookup_bt_conn(struct bt_conn *conn)
+{
+	int i;
+
+	for (i = 0; i < ARRAY_SIZE(bt_rfcomm_pool); i++) {
+		struct bt_rfcomm_session *session = &bt_rfcomm_pool[i];
+
+		if (session->br_chan.chan.conn == conn) {
+			return session;
+		}
+	}
+
+	return NULL;
+}
+
 int bt_rfcomm_server_register(struct bt_rfcomm_server *server)
 {
 	if (server->channel < RFCOMM_CHANNEL_START ||
@@ -301,6 +317,30 @@ struct net_buf *bt_rfcomm_create_pdu(struct nano_fifo *fifo)
 				  sizeof(struct bt_rfcomm_hdr) + 1);
 }
 
+static int rfcomm_send_sabm(struct bt_rfcomm_session *session, uint8_t dlci)
+{
+	struct bt_rfcomm_hdr *hdr;
+	struct net_buf *buf;
+	uint8_t cr, fcs;
+
+	buf = bt_l2cap_create_pdu(&rfcomm_session, 0);
+	if (!buf) {
+		BT_ERR("No buffers");
+		return -ENOMEM;
+	}
+
+	hdr = net_buf_add(buf, sizeof(*hdr));
+	cr = BT_RFCOMM_CMD_CR(session->role);
+	hdr->address = BT_RFCOMM_SET_ADDR(dlci, cr);
+	hdr->control = BT_RFCOMM_SET_CTRL(BT_RFCOMM_SABM, BT_RFCOMM_PF_NON_UIH);
+	hdr->length = BT_RFCOMM_SET_LEN_8(0);
+
+	fcs = rfcomm_calc_fcs(BT_RFCOMM_FCS_LEN_NON_UIH, buf->data);
+	net_buf_add_u8(buf, fcs);
+
+	return bt_l2cap_chan_send(&session->br_chan.chan, buf);
+}
+
 static struct net_buf *rfcomm_make_uih_msg(struct bt_rfcomm_dlc *dlc,
 					   uint8_t cr, uint8_t type,
 					   uint8_t len)
@@ -339,6 +379,10 @@ static void rfcomm_connected(struct bt_l2cap_chan *chan)
 	session->mtu = min(session->br_chan.rx.mtu,
 			   session->br_chan.tx.mtu) -
 			   BT_RFCOMM_HDR_SIZE + BT_RFCOMM_FCS_SIZE;
+
+	if (session->state == BT_RFCOMM_STATE_CONNECTING) {
+		rfcomm_send_sabm(session, 0);
+	}
 }
 
 static void rfcomm_disconnected(struct bt_l2cap_chan *chan)
@@ -674,6 +718,17 @@ static int rfcomm_send_credit(struct bt_rfcomm_dlc *dlc, uint8_t credits)
 	return bt_l2cap_chan_send(&dlc->session->br_chan.chan, buf);
 }
 
+static void rfcomm_handle_ua(struct bt_rfcomm_session *session, uint8_t dlci)
+{
+	if (!dlci) {
+		if (session->state != BT_RFCOMM_STATE_CONNECTING) {
+			return;
+		}
+		session->state = BT_RFCOMM_STATE_CONNECTED;
+		/* TODO: STart dlc */
+	}
+}
+
 static void rfcomm_handle_msc(struct bt_rfcomm_session *session,
 			      struct net_buf *buf, uint8_t cr)
 {
@@ -923,6 +978,9 @@ static void rfcomm_recv(struct bt_l2cap_chan *chan, struct net_buf *buf)
 	case BT_RFCOMM_DISC:
 		rfcomm_handle_disc(session, dlci);
 		break;
+	case BT_RFCOMM_UA:
+		rfcomm_handle_ua(session, dlci);
+		break;
 	default:
 		BT_WARN("Unknown/Unsupported RFCOMM Frame type 0x%02x",
 			frame_type);
@@ -988,6 +1046,62 @@ static struct bt_rfcomm_session *rfcomm_session_new(bt_rfcomm_role_t role)
 	return NULL;
 }
 
+int bt_rfcomm_dlc_connect(struct bt_conn *conn, struct bt_rfcomm_dlc *dlc,
+			  uint8_t channel)
+{
+	struct bt_rfcomm_session *session;
+	struct bt_l2cap_chan *chan;
+	int ret;
+
+	BT_DBG("conn %p dlc %p channel %d", conn, dlc, channel);
+
+	if (!dlc) {
+		return -EINVAL;
+	}
+
+	if (!conn || conn->state != BT_CONN_CONNECTED) {
+		return -ENOTCONN;
+	}
+
+	if (channel < RFCOMM_CHANNEL_START || channel > RFCOMM_CHANNEL_END) {
+		return -EINVAL;
+	}
+
+	session = rfcomm_sessions_lookup_bt_conn(conn);
+	if (!session) {
+		session = rfcomm_session_new(BT_RFCOMM_ROLE_INITIATOR);
+		if (!session) {
+			return -ENOMEM;
+		}
+	}
+
+	switch (session->state) {
+	case BT_RFCOMM_STATE_INIT:
+		if (session->role == BT_RFCOMM_ROLE_ACCEPTOR) {
+			/* There is an ongoing incoming conn */
+			break;
+		}
+		chan = &session->br_chan.chan;
+		ret = bt_l2cap_chan_connect(conn, chan, BT_L2CAP_PSM_RFCOMM);
+		if (ret < 0) {
+			session->state = BT_RFCOMM_STATE_IDLE;
+			return ret;
+		}
+		session->state = BT_RFCOMM_STATE_CONNECTING;
+		break;
+	case BT_RFCOMM_STATE_CONNECTING:
+		break;
+	case BT_RFCOMM_STATE_CONNECTED:
+		/* TODO: Start dlc */
+		break;
+	default:
+		BT_ERR("Invalid session state %d", session->state);
+		return -EINVAL;
+	}
+
+	return 0;
+}
+
 static int rfcomm_accept(struct bt_conn *conn, struct bt_l2cap_chan **chan)
 {
 	struct bt_rfcomm_session *session;
diff --git a/subsys/bluetooth/host/rfcomm_internal.h b/subsys/bluetooth/host/rfcomm_internal.h
index 67566770011..ac358416697 100644
--- a/subsys/bluetooth/host/rfcomm_internal.h
+++ b/subsys/bluetooth/host/rfcomm_internal.h
@@ -34,6 +34,7 @@ enum {
 	BT_RFCOMM_STATE_IDLE,
 	BT_RFCOMM_STATE_INIT,
 	BT_RFCOMM_STATE_SECURITY_PENDING,
+	BT_RFCOMM_STATE_CONNECTING,
 	BT_RFCOMM_STATE_CONNECTED,
 	BT_RFCOMM_STATE_CONFIG,
 	BT_RFCOMM_STATE_DISCONNECTED,