diff --git a/infra/base-images/base-builder/Dockerfile b/infra/base-images/base-builder/Dockerfile
index ce8dad1cc8db..eabeb55c9f0c 100644
--- a/infra/base-images/base-builder/Dockerfile
+++ b/infra/base-images/base-builder/Dockerfile
@@ -132,9 +132,9 @@ COPY precompile_honggfuzz /usr/local/bin/
 RUN precompile_honggfuzz
 
 RUN cd $SRC && \
-    git clone https://github.com/google/centipede.git && \
+    git clone -n https://github.com/google/centipede.git && \
     cd centipede && \
-    git checkout eb91dd2157710e6c82579f8be19d7fab9423b781 && \
+    git checkout 2a2c78a2c161d99f5962b9710bce61feb00acc3d && \
     rm -rf .git
 
 COPY precompile_centipede /usr/local/bin/
diff --git a/infra/base-images/base-builder/compile_centipede b/infra/base-images/base-builder/compile_centipede
index 1f72a2075a84..7e60b2b2017c 100755
--- a/infra/base-images/base-builder/compile_centipede
+++ b/infra/base-images/base-builder/compile_centipede
@@ -27,9 +27,15 @@ cp "$BIN_DIR/libcentipede_runner.pic.a" "$LIB_FUZZING_ENGINE"
 
 export DFTRACING_FLAGS='-fsanitize-coverage=trace-loads'
 export CENTIPEDE_FLAGS=`cat "$SRC/centipede/clang-flags.txt" | tr '\n' ' '`
-export LIBRARIES_FLAGS="-Wno-unused-command-line-argument -ldl -lrt -lpthread $SRC/centipede/weak.o"
+export LIBRARIES_FLAGS="-lc++ -Wno-unused-command-line-argument"
 
 export CFLAGS="$CFLAGS $DFTRACING_FLAGS $CENTIPEDE_FLAGS $LIBRARIES_FLAGS"
 export CXXFLAGS="$CXXFLAGS $DFTRACING_FLAGS $CENTIPEDE_FLAGS $LIBRARIES_FLAGS"
+# For Meson.
+export LDFLAGS='/src/centipede/weak.o'
+
+# For Centipede's ld
+export CENTIPEDE_BIN="$SRC/centipede/bin"
+export PATH="$CENTIPEDE_BIN":$PATH
 
 echo 'done.'
diff --git a/infra/base-images/base-builder/precompile_centipede b/infra/base-images/base-builder/precompile_centipede
index 6af9d562f15b..3cc92bd76b7e 100755
--- a/infra/base-images/base-builder/precompile_centipede
+++ b/infra/base-images/base-builder/precompile_centipede
@@ -32,6 +32,15 @@ bazel --bazelrc=/tmp/centipede.bazelrc build -c opt :all
 # The weak symbols provides fake implementations for intermediate binaries.
 $CXX "$SRC/centipede/weak_sancov_stubs.cc" -c -o "$SRC/centipede/weak.o"
 
+# Centipede's ld, which always appends weak.o as a parameter.
+export CENTIPEDE_BIN="$SRC/centipede/bin"
+mkdir -p $CENTIPEDE_BIN
+cat << EOF > ${CENTIPEDE_BIN}/ld
+#!/bin/bash
+/usr/bin/ld \$@ -ldl -lrt -lpthread -lc++ /src/centipede/weak.o
+EOF
+chmod 777 ${CENTIPEDE_BIN}/ld
+
 echo 'Removing extra stuff leftover to avoid bloating image.'
 
 rm -rf /clang-*.tgz /clang
diff --git a/infra/build/functions/build_project.py b/infra/build/functions/build_project.py
index 23ec94810f55..ec21c87030ea 100755
--- a/infra/build/functions/build_project.py
+++ b/infra/build/functions/build_project.py
@@ -42,7 +42,7 @@
 GCB_LOGS_BUCKET = 'oss-fuzz-gcb-logs'
 
 DEFAULT_ARCHITECTURES = ['x86_64']
-DEFAULT_ENGINES = ['libfuzzer', 'afl', 'honggfuzz']
+DEFAULT_ENGINES = ['libfuzzer', 'afl', 'honggfuzz', 'centipede']
 DEFAULT_SANITIZERS = ['address', 'undefined']
 
 LATEST_VERSION_FILENAME = 'latest.version'
diff --git a/infra/build/functions/test_data/expected_build_steps.json b/infra/build/functions/test_data/expected_build_steps.json
index 37c13e0d0f90..065c76c7bbbf 100644
--- a/infra/build/functions/test_data/expected_build_steps.json
+++ b/infra/build/functions/test_data/expected_build_steps.json
@@ -213,6 +213,288 @@
       "rm -r /workspace/out/afl-address-x86_64"
     ]
   },
+  {
+    "name": "gcr.io/cloud-builders/docker",
+    "env": [
+      "ARCHITECTURE=x86_64",
+      "FUZZING_ENGINE=centipede",
+      "FUZZING_LANGUAGE=c++",
+      "HOME=/root",
+      "OUT=/workspace/out/centipede-address-x86_64",
+      "SANITIZER=address"
+    ],
+    "args": [
+      "run",
+      "--platform",
+      "linux/amd64",
+      "-v",
+      "/workspace:/workspace",
+      "--privileged",
+      "--cap-add=all",
+      "-e",
+      "ARCHITECTURE=x86_64",
+      "-e",
+      "FUZZING_ENGINE=centipede",
+      "-e",
+      "FUZZING_LANGUAGE=c++",
+      "-e",
+      "HOME=/root",
+      "-e",
+      "OUT=/workspace/out/centipede-address-x86_64",
+      "-e",
+      "SANITIZER=address",
+      "-t",
+      "gcr.io/oss-fuzz/test-project",
+      "bash",
+      "-c",
+      "rm -r /out && cd /src && cd /src && mkdir -p /workspace/out/centipede-address-x86_64 && compile || (echo \"********************************************************************************\nFailed to build.\nTo reproduce, run:\npython infra/helper.py build_image test-project\npython infra/helper.py build_fuzzers --sanitizer address --engine centipede --architecture x86_64 test-project\n********************************************************************************\" && false)"
+    ],
+    "id": "compile-centipede-address-x86_64"
+  },
+  {
+    "name": "gcr.io/cloud-builders/docker",
+    "env": [
+      "ARCHITECTURE=x86_64",
+      "FUZZING_ENGINE=centipede",
+      "FUZZING_LANGUAGE=c++",
+      "HOME=/root",
+      "OUT=/workspace/out/centipede-address-x86_64",
+      "SANITIZER=address"
+    ],
+    "args": [
+      "run",
+      "--platform",
+      "linux/amd64",
+      "-v",
+      "/workspace:/workspace",
+      "--privileged",
+      "--cap-add=all",
+      "-e",
+      "ARCHITECTURE=x86_64",
+      "-e",
+      "FUZZING_ENGINE=centipede",
+      "-e",
+      "FUZZING_LANGUAGE=c++",
+      "-e",
+      "HOME=/root",
+      "-e",
+      "OUT=/workspace/out/centipede-address-x86_64",
+      "-e",
+      "SANITIZER=address",
+      "-t",
+      "gcr.io/oss-fuzz-base/base-runner",
+      "bash",
+      "-c",
+      "test_all.py || (echo \"********************************************************************************\nBuild checks failed.\nTo reproduce, run:\npython infra/helper.py build_image test-project\npython infra/helper.py build_fuzzers --sanitizer address --engine centipede --architecture x86_64 test-project\npython infra/helper.py check_build --sanitizer address --engine centipede --architecture x86_64 test-project\n********************************************************************************\" && false)"
+    ],
+    "id": "build-check-centipede-address-x86_64"
+  },
+  {
+    "name": "gcr.io/oss-fuzz-base/base-runner",
+    "env": [
+      "ARCHITECTURE=x86_64",
+      "FUZZING_ENGINE=centipede",
+      "FUZZING_LANGUAGE=c++",
+      "HOME=/root",
+      "OUT=/workspace/out/centipede-address-x86_64",
+      "SANITIZER=address"
+    ],
+    "args": [
+      "bash",
+      "-c",
+      "targets_list > /workspace/targets.list.address"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz/test-project",
+    "args": [
+      "bash",
+      "-c",
+      "cd /workspace/out/centipede-address-x86_64 && zip -r test-project-address-202001010000.zip *"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz-base/uploader",
+    "args": [
+      "/workspace/srcmap.json",
+      "test_url"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz-base/uploader",
+    "args": [
+      "/workspace/out/centipede-address-x86_64/test-project-address-202001010000.zip",
+      "test_url"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz-base/uploader",
+    "args": [
+      "/workspace/targets.list.address",
+      "test_url"
+    ]
+  },
+  {
+    "name": "gcr.io/cloud-builders/curl",
+    "args": [
+      "-H",
+      "Content-Type: text/plain",
+      "-X",
+      "PUT",
+      "-d",
+      "test-project-address-202001010000.zip",
+      "test_url"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz/test-project",
+    "args": [
+      "bash",
+      "-c",
+      "rm -r /workspace/out/centipede-address-x86_64"
+    ]
+  },
+  {
+    "name": "gcr.io/cloud-builders/docker",
+    "env": [
+      "ARCHITECTURE=x86_64",
+      "FUZZING_ENGINE=centipede",
+      "FUZZING_LANGUAGE=c++",
+      "HOME=/root",
+      "OUT=/workspace/out/centipede-none-x86_64",
+      "SANITIZER=none"
+    ],
+    "args": [
+      "run",
+      "--platform",
+      "linux/amd64",
+      "-v",
+      "/workspace:/workspace",
+      "--privileged",
+      "--cap-add=all",
+      "-e",
+      "ARCHITECTURE=x86_64",
+      "-e",
+      "FUZZING_ENGINE=centipede",
+      "-e",
+      "FUZZING_LANGUAGE=c++",
+      "-e",
+      "HOME=/root",
+      "-e",
+      "OUT=/workspace/out/centipede-none-x86_64",
+      "-e",
+      "SANITIZER=none",
+      "-t",
+      "gcr.io/oss-fuzz/test-project",
+      "bash",
+      "-c",
+      "rm -r /out && cd /src && cd /src && mkdir -p /workspace/out/centipede-none-x86_64 && compile || (echo \"********************************************************************************\nFailed to build.\nTo reproduce, run:\npython infra/helper.py build_image test-project\npython infra/helper.py build_fuzzers --sanitizer none --engine centipede --architecture x86_64 test-project\n********************************************************************************\" && false)"
+    ],
+    "id": "compile-centipede-none-x86_64"
+  },
+  {
+    "name": "gcr.io/cloud-builders/docker",
+    "env": [
+      "ARCHITECTURE=x86_64",
+      "FUZZING_ENGINE=centipede",
+      "FUZZING_LANGUAGE=c++",
+      "HOME=/root",
+      "OUT=/workspace/out/centipede-none-x86_64",
+      "SANITIZER=none"
+    ],
+    "args": [
+      "run",
+      "--platform",
+      "linux/amd64",
+      "-v",
+      "/workspace:/workspace",
+      "--privileged",
+      "--cap-add=all",
+      "-e",
+      "ARCHITECTURE=x86_64",
+      "-e",
+      "FUZZING_ENGINE=centipede",
+      "-e",
+      "FUZZING_LANGUAGE=c++",
+      "-e",
+      "HOME=/root",
+      "-e",
+      "OUT=/workspace/out/centipede-none-x86_64",
+      "-e",
+      "SANITIZER=none",
+      "-t",
+      "gcr.io/oss-fuzz-base/base-runner",
+      "bash",
+      "-c",
+      "test_all.py || (echo \"********************************************************************************\nBuild checks failed.\nTo reproduce, run:\npython infra/helper.py build_image test-project\npython infra/helper.py build_fuzzers --sanitizer none --engine centipede --architecture x86_64 test-project\npython infra/helper.py check_build --sanitizer none --engine centipede --architecture x86_64 test-project\n********************************************************************************\" && false)"
+    ],
+    "id": "build-check-centipede-none-x86_64"
+  },
+  {
+    "name": "gcr.io/oss-fuzz-base/base-runner",
+    "env": [
+      "ARCHITECTURE=x86_64",
+      "FUZZING_ENGINE=centipede",
+      "FUZZING_LANGUAGE=c++",
+      "HOME=/root",
+      "OUT=/workspace/out/centipede-none-x86_64",
+      "SANITIZER=none"
+    ],
+    "args": [
+      "bash",
+      "-c",
+      "targets_list > /workspace/targets.list.none"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz/test-project",
+    "args": [
+      "bash",
+      "-c",
+      "cd /workspace/out/centipede-none-x86_64 && zip -r test-project-none-202001010000.zip *"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz-base/uploader",
+    "args": [
+      "/workspace/srcmap.json",
+      "test_url"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz-base/uploader",
+    "args": [
+      "/workspace/out/centipede-none-x86_64/test-project-none-202001010000.zip",
+      "test_url"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz-base/uploader",
+    "args": [
+      "/workspace/targets.list.none",
+      "test_url"
+    ]
+  },
+  {
+    "name": "gcr.io/cloud-builders/curl",
+    "args": [
+      "-H",
+      "Content-Type: text/plain",
+      "-X",
+      "PUT",
+      "-d",
+      "test-project-none-202001010000.zip",
+      "test_url"
+    ]
+  },
+  {
+    "name": "gcr.io/oss-fuzz/test-project",
+    "args": [
+      "bash",
+      "-c",
+      "rm -r /workspace/out/centipede-none-x86_64"
+    ]
+  },
   {
     "name": "gcr.io/cloud-builders/docker",
     "env": [
diff --git a/infra/ci/build.py b/infra/ci/build.py
index 8e573ae68f20..18a22c95d6d0 100755
--- a/infra/ci/build.py
+++ b/infra/ci/build.py
@@ -33,7 +33,7 @@
 CANARY_PROJECT = 'skcms'
 
 DEFAULT_ARCHITECTURES = ['x86_64']
-DEFAULT_ENGINES = ['afl', 'honggfuzz', 'libfuzzer']
+DEFAULT_ENGINES = ['afl', 'honggfuzz', 'libfuzzer', 'centipede']
 DEFAULT_SANITIZERS = ['address', 'undefined']