diff --git a/arch/arm/mach-k3/am62ax/am62a7_init.c b/arch/arm/mach-k3/am62ax/am62a7_init.c
index 78153c97a58..698e6d5c587 100644
--- a/arch/arm/mach-k3/am62ax/am62a7_init.c
+++ b/arch/arm/mach-k3/am62ax/am62a7_init.c
@@ -15,6 +15,9 @@
 #include "../sysfw-loader.h"
 #include "../common.h"
 
+#define CTRLMMR_MCU_RST_CTRL             0x04518170
+#define RST_CTRL_ESM_ERROR_RST_EN_Z_MASK 0xFFFDFFFF
+
 struct fwl_data cbass_main_fwls[] = {
        { "FSS_DAT_REG3", 7, 8 },
 };
@@ -70,6 +73,15 @@ static void ctrl_mmr_unlock(void)
 	mmr_unlock(PADCFG_MMR1_BASE, 1);
 }
 
+static __maybe_unused void enable_mcu_esm_reset(void)
+{
+	/* Set CTRLMMR_MCU_RST_CTRL:MCU_ESM_ERROR_RST_EN_Z  to '0' (low active) */
+	u32 stat = readl(CTRLMMR_MCU_RST_CTRL);
+
+	stat &= RST_CTRL_ESM_ERROR_RST_EN_Z_MASK;
+	writel(stat, CTRLMMR_MCU_RST_CTRL);
+}
+
 void board_init_f(ulong dummy)
 {
 	struct udevice *dev;
@@ -160,6 +172,20 @@ void board_init_f(ulong dummy)
 	/* Output System Firmware version info */
 	k3_sysfw_print_ver();
 
+	if (IS_ENABLED(CONFIG_ESM_K3)) {
+		/* Probe/configure ESM0 */
+		ret = uclass_get_device_by_name(UCLASS_MISC, "esm@420000", &dev);
+		if (ret)
+			printf("esm main init failed: %d\n", ret);
+
+		/* Probe/configure MCUESM */
+		ret = uclass_get_device_by_name(UCLASS_MISC, "esm@4100000", &dev);
+		if (ret)
+			printf("esm mcu init failed: %d\n", ret);
+
+		enable_mcu_esm_reset();
+	}
+
 #if defined(CONFIG_K3_AM62A_DDRSS)
 	ret = uclass_get_device(UCLASS_RAM, 0, &dev);
 	if (ret)
diff --git a/arch/arm/mach-k3/am62px/am62p5_init.c b/arch/arm/mach-k3/am62px/am62p5_init.c
index 2d35a7ce77e..36216aac90c 100644
--- a/arch/arm/mach-k3/am62px/am62p5_init.c
+++ b/arch/arm/mach-k3/am62px/am62p5_init.c
@@ -15,6 +15,9 @@
 #include "../sysfw-loader.h"
 #include "../common.h"
 
+#define CTRLMMR_MCU_RST_CTRL             0x04518170
+#define RST_CTRL_ESM_ERROR_RST_EN_Z_MASK 0xFFFDFFFF
+
 struct fwl_data cbass_main_fwls[] = {
 	{ "FSS_DAT_REG3", 7, 8 },
 };
@@ -67,6 +70,15 @@ static void ctrl_mmr_unlock(void)
 	mmr_unlock(PADCFG_MMR1_BASE, 1);
 }
 
+static __maybe_unused void enable_mcu_esm_reset(void)
+{
+	/* Set CTRLMMR_MCU_RST_CTRL:MCU_ESM_ERROR_RST_EN_Z  to '0' (low active) */
+	u32 stat = readl(CTRLMMR_MCU_RST_CTRL);
+
+	stat &= RST_CTRL_ESM_ERROR_RST_EN_Z_MASK;
+	writel(stat, CTRLMMR_MCU_RST_CTRL);
+}
+
 void board_init_f(ulong dummy)
 {
 	struct udevice *dev;
@@ -158,6 +170,20 @@ void board_init_f(ulong dummy)
 			panic("DRAM init failed: %d\n", ret);
 	}
 
+	if (IS_ENABLED(CONFIG_ESM_K3)) {
+		/* Probe/configure ESM0 */
+		ret = uclass_get_device_by_name(UCLASS_MISC, "esm@420000", &dev);
+		if (ret)
+			printf("esm main init failed: %d\n", ret);
+
+		/* Probe/configure MCUESM */
+		ret = uclass_get_device_by_name(UCLASS_MISC, "esm@4100000", &dev);
+		if (ret)
+			printf("esm mcu init failed: %d\n", ret);
+
+		enable_mcu_esm_reset();
+	}
+
 	spl_enable_cache();
 
 	setup_qos();