diff --git a/samples/sensor/qdec/src/main.c b/samples/sensor/qdec/src/main.c
index dfb0c138c8e..29bf3f1cb66 100644
--- a/samples/sensor/qdec/src/main.c
+++ b/samples/sensor/qdec/src/main.c
@@ -9,6 +9,63 @@
 #include <zephyr/drivers/sensor.h>
 #include <zephyr/sys/printk.h>
 
+#define QUAD_ENC_EMUL_ENABLED \
+	DT_NODE_EXISTS(DT_ALIAS(qenca)) && DT_NODE_EXISTS(DT_ALIAS(qencb))
+
+#if QUAD_ENC_EMUL_ENABLED
+
+#include <zephyr/drivers/gpio.h>
+
+#define QUAD_ENC_EMUL_PERIOD 100
+
+static const struct gpio_dt_spec phase_a =
+			GPIO_DT_SPEC_GET(DT_ALIAS(qenca), gpios);
+static const struct gpio_dt_spec phase_b =
+			GPIO_DT_SPEC_GET(DT_ALIAS(qencb), gpios);
+
+void qenc_emulate_work_handler(struct k_work *work)
+{
+	gpio_pin_toggle_dt(&phase_a);
+	k_msleep(1);
+	gpio_pin_toggle_dt(&phase_b);
+}
+
+K_WORK_DEFINE(qenc_emulate_work, qenc_emulate_work_handler);
+
+void qenc_emulate_timer_handler(struct k_timer *dummy)
+{
+	k_work_submit(&qenc_emulate_work);
+}
+
+K_TIMER_DEFINE(qenc_emulate_timer, qenc_emulate_timer_handler, NULL);
+
+void qenc_emulate_init(void)
+{
+	printk("Quadrature encoder emulator enabled with %u ms period\n",
+		QUAD_ENC_EMUL_PERIOD);
+
+	if (!device_is_ready(phase_a.port)) {
+		printk("%s: device not ready.", phase_a.port->name);
+		return;
+	}
+	gpio_pin_configure_dt(&phase_a, GPIO_OUTPUT);
+
+	if (!device_is_ready(phase_b.port)) {
+		printk("%s: device not ready.", phase_b.port->name);
+		return;
+	}
+	gpio_pin_configure_dt(&phase_b, GPIO_OUTPUT);
+
+	k_timer_start(&qenc_emulate_timer, K_MSEC(QUAD_ENC_EMUL_PERIOD),
+			K_MSEC(QUAD_ENC_EMUL_PERIOD));
+}
+
+#else
+
+void qenc_emulate_init(void) { };
+
+#endif /* QUAD_ENC_EMUL_ENABLED */
+
 void main(void)
 {
 	struct sensor_value val;
@@ -22,6 +79,8 @@ void main(void)
 
 	printk("Quadrature decoder sensor test\n");
 
+	qenc_emulate_init();
+
 	while (true) {
 		rc = sensor_sample_fetch(dev);
 		if (rc != 0) {
@@ -35,7 +94,7 @@ void main(void)
 			return;
 		}
 
-		printk("Position = %d degrees", val.val1);
+		printk("Position = %d degrees\n", val.val1);
 
 		k_msleep(1000);
 	}