diff --git a/doc/openocd.texi b/doc/openocd.texi
index 2db8bdd06..925eebed2 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -3100,6 +3100,11 @@ Specifies the adapter layout to use.
 The vendor ID and product ID of the device.
 @end deffn
 
+@deffn {Command} {hla_command} command
+Execute a custom adapter-specific command. The @var{command} string is
+passed as is to the underlying adapter layout handler.
+@end deffn
+
 @deffn {Config Command} {trace} source_clock_hz [output_file_path]
 Enable SWO tracing (if supported). The source clock rate for the
 trace port must be specified, this is typically the CPU clock rate. If
diff --git a/src/jtag/drivers/ti_icdi_usb.c b/src/jtag/drivers/ti_icdi_usb.c
index 2f4af7a42..53abbfb43 100644
--- a/src/jtag/drivers/ti_icdi_usb.c
+++ b/src/jtag/drivers/ti_icdi_usb.c
@@ -777,4 +777,5 @@ struct hl_layout_api_s icdi_usb_layout_api = {
 	.write_mem = icdi_usb_write_mem,
 	.write_debug_reg = icdi_usb_write_debug_reg,
 	.override_target = icdi_usb_override_target,
+	.custom_command = icdi_send_remote_cmd,
 };
diff --git a/src/jtag/hla/hla_interface.c b/src/jtag/hla/hla_interface.c
index 964b07442..ce914ea0c 100644
--- a/src/jtag/hla/hla_interface.c
+++ b/src/jtag/hla/hla_interface.c
@@ -268,6 +268,21 @@ COMMAND_HANDLER(interface_handle_trace_command)
 	return ERROR_OK;
 }
 
+COMMAND_HANDLER(interface_handle_hla_command)
+{
+	if (CMD_ARGC != 1)
+		return ERROR_COMMAND_SYNTAX_ERROR;
+
+	if (!hl_if.layout->api->custom_command) {
+		LOG_ERROR("The selected adapter doesn't support custom commands");
+		return ERROR_FAIL;
+	}
+
+	hl_if.layout->api->custom_command(hl_if.handle, CMD_ARGV[0]);
+
+	return ERROR_OK;
+}
+
 static const struct command_registration hl_interface_command_handlers[] = {
 	{
 	 .name = "hla_device_desc",
@@ -304,6 +319,13 @@ static const struct command_registration hl_interface_command_handlers[] = {
 	 .help = "configure trace reception",
 	 .usage = "source_lock_hz [destination_path]",
 	 },
+	 {
+	 .name = "hla_command",
+	 .handler = &interface_handle_hla_command,
+	 .mode = COMMAND_EXEC,
+	 .help = "execute a custom adapter-specific command",
+	 .usage = "hla_command <command>",
+	 },
 	COMMAND_REGISTRATION_DONE
 };
 
diff --git a/src/jtag/hla/hla_layout.h b/src/jtag/hla/hla_layout.h
index 6d79d5810..df93cb69d 100644
--- a/src/jtag/hla/hla_layout.h
+++ b/src/jtag/hla/hla_layout.h
@@ -76,6 +76,8 @@ struct hl_layout_api_s {
 	/** */
 	int (*override_target) (const char *targetname);
 	/** */
+	int (*custom_command) (void *handle, const char *command);
+	/** */
 	enum target_state (*state) (void *fd);
 };