diff --git a/examples/lighting-app/nrf5/Makefile b/examples/lighting-app/nrf5/Makefile
index 56fa0a6fc30766..4509512e962cd4 100644
--- a/examples/lighting-app/nrf5/Makefile
+++ b/examples/lighting-app/nrf5/Makefile
@@ -113,10 +113,12 @@ INC_DIRS = \
     $(PROJECT_ROOT)/main/traits/include \
     $(PROJECT_ROOT)/main/schema/include \
     $(PROJECT_ROOT)/third_party/printf \
+    $(CHIP_OUTPUT_DIR)/third_party/openthread/include \
     $(CHIP_ROOT)/src/include/ \
     $(CHIP_ROOT)/src/lib \
     $(CHIP_ROOT)/src/ \
     $(CHIP_ROOT)/src/system \
+    $(CHIP_ROOT)/third_party/openthread/repo/include \
     $(NRF5_PLATFORM_DIR)/app/include \
     $(NRF5_PLATFORM_DIR)/app/project_include \
     $(NRF5_PLATFORM_DIR)/util/include \
@@ -210,6 +212,7 @@ LIBS = \
     -lopenthread-nrf52840-transport \
     -lopenthread-nrf52840-softdevice-sdk \
     -lnordicsemi-nrf52840-radio-driver-softdevice \
+    -lSetupPayload \
     $(NRF5_SDK_ROOT)/external/openthread/nrf_security/lib/libmbedcrypto_glue.a \
     $(NRF5_SDK_ROOT)/external/openthread/nrf_security/lib/libmbedcrypto_glue_cc310.a \
     $(NRF5_SDK_ROOT)/external/openthread/nrf_security/lib/libmbedcrypto_glue_vanilla.a \
diff --git a/src/platform/FreeRTOS/GenericThreadStackManagerImpl_FreeRTOS.h b/src/platform/FreeRTOS/GenericThreadStackManagerImpl_FreeRTOS.h
index b9b5b098d2fd98..4b1fbc5dae7a00 100644
--- a/src/platform/FreeRTOS/GenericThreadStackManagerImpl_FreeRTOS.h
+++ b/src/platform/FreeRTOS/GenericThreadStackManagerImpl_FreeRTOS.h
@@ -30,10 +30,12 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/semphr.h"
 #include "freertos/task.h"
+#include "timers.h"
 #else
 #include "FreeRTOS.h"
 #include "semphr.h"
 #include "task.h"
+#include "timers.h"
 #endif
 
 namespace chip {
@@ -77,6 +79,9 @@ class GenericThreadStackManagerImpl_FreeRTOS
     inline ImplClass * Impl() { return static_cast<ImplClass *>(this); }
 
     static void ThreadTaskMain(void * arg);
+    static void OnJoinerTimer(TimerHandle_t xTimer);
+
+    portTickType mJoinerExpire;
 };
 
 // Instruct the compiler to instantiate the template only when explicitly told to do so.
diff --git a/src/platform/FreeRTOS/GenericThreadStackManagerImpl_FreeRTOS.ipp b/src/platform/FreeRTOS/GenericThreadStackManagerImpl_FreeRTOS.ipp
index 6a2276583ad454..e8d14e0923caa1 100644
--- a/src/platform/FreeRTOS/GenericThreadStackManagerImpl_FreeRTOS.ipp
+++ b/src/platform/FreeRTOS/GenericThreadStackManagerImpl_FreeRTOS.ipp
@@ -27,6 +27,7 @@
 #define GENERIC_THREAD_STACK_MANAGER_IMPL_FREERTOS_IPP
 
 #include <platform/FreeRTOS/GenericThreadStackManagerImpl_FreeRTOS.h>
+#include <platform/OpenThread/OpenThreadUtils.h>
 #include <platform/ThreadStackManager.h>
 #include <platform/internal/CHIPDeviceLayerInternal.h>
 #include <support/CodeUtils.h>
@@ -114,6 +115,26 @@ BaseType_t GenericThreadStackManagerImpl_FreeRTOS<ImplClass>::SignalThreadActivi
     return yieldRequired;
 }
 
+template <class ImplClass>
+void GenericThreadStackManagerImpl_FreeRTOS<ImplClass>::OnJoinerTimer(TimerHandle_t xTimer)
+{
+    GenericThreadStackManagerImpl_FreeRTOS<ImplClass> * self =
+        static_cast<GenericThreadStackManagerImpl_FreeRTOS<ImplClass> *>(pvTimerGetTimerID(xTimer));
+
+    if (xTaskGetTickCount() > self->mJoinerExpire || self->Impl()->IsThreadProvisioned())
+    {
+        ChipLogDetail(DeviceLayer, "Thread joiner timer stopped");
+
+        VerifyOrDie(pdPASS == xTimerStop(xTimer, portMAX_DELAY) && pdPASS == xTimerDelete(xTimer, portMAX_DELAY));
+    }
+    else
+    {
+        CHIP_ERROR error = self->Impl()->JoinerStart();
+
+        ChipLogDetail(DeviceLayer, "Thread joiner timer triggered: %s", chip::ErrorStr(error));
+    }
+}
+
 template <class ImplClass>
 void GenericThreadStackManagerImpl_FreeRTOS<ImplClass>::ThreadTaskMain(void * arg)
 {
@@ -127,6 +148,13 @@ void GenericThreadStackManagerImpl_FreeRTOS<ImplClass>::ThreadTaskMain(void * ar
     // Capture the Thread task handle.
     self->mThreadTask = xTaskGetCurrentTaskHandle();
 
+    // Try starting joiner within 15m.
+    self->mJoinerExpire = xTaskGetTickCount() + pdMS_TO_TICKS(15 * 60 * 1000);
+
+    TimerHandle_t joinerTimer = xTimerCreate("JoinerTimer", pdMS_TO_TICKS(10000), pdTRUE, self, &OnJoinerTimer);
+    VerifyOrDie(joinerTimer != NULL);
+    VerifyOrDie(pdPASS == xTimerStart(joinerTimer, portMAX_DELAY));
+
     while (true)
     {
         // Lock the Thread stack.