diff --git a/src/framework/components/camera/component.js b/src/framework/components/camera/component.js
index 423bed2cbcf..d61d47488ba 100644
--- a/src/framework/components/camera/component.js
+++ b/src/framework/components/camera/component.js
@@ -946,6 +946,7 @@ class CameraComponent extends Component {
      * @param {import('../../xr/xr-manager.js').XrErrorCallback} [options.callback] - Optional
      * callback function called once the session is started. The callback has one argument Error -
      * it is null if the XR session started successfully.
+     * @param {boolean} [options.anchors] - Optional boolean to attempt to enable {@link XrAnchors}.
      * @param {object} [options.depthSensing] - Optional object with depth sensing parameters to
      * attempt to enable {@link XrDepthSensing}.
      * @param {string} [options.depthSensing.usagePreference] - Optional usage preference for depth
diff --git a/src/framework/xr/xr-anchor.js b/src/framework/xr/xr-anchor.js
new file mode 100644
index 00000000000..3ed6cdf9a1f
--- /dev/null
+++ b/src/framework/xr/xr-anchor.js
@@ -0,0 +1,119 @@
+import { EventHandler } from '../../core/event-handler.js';
+
+import { Vec3 } from '../../core/math/vec3.js';
+import { Quat } from '../../core/math/quat.js';
+
+/**
+ * An anchor keeps track of a position and rotation that is fixed relative to the real world.
+ * This allows the application to adjust the location of the virtual objects placed in the
+ * scene in a way that helps with maintaining the illusion that the placed objects are really
+ * present in the user’s environment.
+ *
+ * @augments EventHandler
+ * @category XR
+ */
+class XrAnchor extends EventHandler {
+    /**
+     * @type {Vec3}
+     * @private
+     */
+    _position = new Vec3();
+
+    /**
+     * @type {Quat}
+     * @private
+     */
+    _rotation = new Quat();
+
+    /**
+     * @param {import('./xr-anchors.js').XrAnchors} anchors - Anchor manager.
+     * @param {object} xrAnchor - native XRAnchor object that is provided by WebXR API
+     * @hideconstructor
+     */
+    constructor(anchors, xrAnchor) {
+        super();
+
+        this._anchors = anchors;
+        this._xrAnchor = xrAnchor;
+    }
+
+    /**
+     * Fired when an {@link XrAnchor} is destroyed.
+     *
+     * @event XrAnchor#destroy
+     * @example
+     * // once anchor is destroyed
+     * anchor.once('destroy', function () {
+     *     // destroy its related entity
+     *     entity.destroy();
+     * });
+     */
+
+    /**
+     * Fired when an {@link XrAnchor}'s position and/or rotation is changed.
+     *
+     * @event XrAnchor#change
+     * @example
+     * anchor.on('change', function () {
+     *     // anchor has been updated
+     *     entity.setPosition(anchor.getPosition());
+     *     entity.setRotation(anchor.getRotation());
+     * });
+     */
+
+    /**
+     * Destroy an anchor.
+     */
+    destroy() {
+        if (!this._xrAnchor) return;
+        this._anchors._index.delete(this._xrAnchor);
+
+        const ind = this._anchors._list.indexOf(this);
+        if (ind !== -1) this._anchors._list.splice(ind, 1);
+
+        this._xrAnchor.delete();
+        this._xrAnchor = null;
+
+        this.fire('destroy');
+        this._anchors.fire('destroy', this);
+    }
+
+    /**
+     * @param {*} frame - XRFrame from requestAnimationFrame callback.
+     * @ignore
+     */
+    update(frame) {
+        if (!this._xrAnchor)
+            return;
+
+        const pose = frame.getPose(this._xrAnchor.anchorSpace, this._anchors.manager._referenceSpace);
+        if (pose) {
+            if (this._position.equals(pose.transform.position) && this._rotation.equals(pose.transform.orientation))
+                return;
+
+            this._position.copy(pose.transform.position);
+            this._rotation.copy(pose.transform.orientation);
+            this.fire('change');
+        }
+    }
+
+    /**
+     * Get the world space position of an anchor.
+     *
+     * @returns {Vec3} The world space position of an anchor.
+     */
+    getPosition() {
+        return this._position;
+    }
+
+    /**
+     * Get the world space rotation of an anchor.
+     *
+     * @returns {Quat} The world space rotation of an anchor.
+     */
+    getRotation() {
+        return this._rotation;
+    }
+}
+
+export { XrAnchor };
diff --git a/src/framework/xr/xr-anchors.js b/src/framework/xr/xr-anchors.js
new file mode 100644
index 00000000000..c273878a12d
--- /dev/null
+++ b/src/framework/xr/xr-anchors.js
@@ -0,0 +1,236 @@
+import { EventHandler } from '../../core/event-handler.js';
+import { platform } from '../../core/platform.js';
+import { XrAnchor } from './xr-anchor.js';
+
+/**
+ * Callback used by {@link XrAnchors#create}.
+ *
+ * @callback XrAnchorCreate
+ * @param {Error|null} err - The Error object if failed to create an anchor or null.
+ * @param {XrAnchor|null} anchor - The anchor that is tracked against real world geometry.
+ */
+
+/**
+ * Anchors provide an ability to specify a point in the world that needs to be updated to
+ * correctly reflect the evolving understanding of the world by the underlying AR system,
+ * such that the anchor remains aligned with the same place in the physical world.
+ * Anchors tend to persist better relative to the real world, especially during a longer
+ * session with lots of movement.
+ *
+ * ```javascript
+ * app.xr.start(camera, pc.XRTYPE_AR, pc.XRSPACE_LOCALFLOOR, {
+ *     anchors: true
+ * });
+ * ```
+ * @augments EventHandler
+ * @category XR
+ */
+class XrAnchors extends EventHandler {
+    /**
+     * @type {boolean}
+     * @private
+     */
+    _supported = platform.browser && !!window.XRAnchor;
+
+    /**
+     * List of anchor creation requests.
+     *
+     * @type {Array<object>}
+     * @private
+     */
+    _creationQueue = [];
+
+    /**
+     * Index of XrAnchors, with XRAnchor (native handle) used as a key.
+     *
+     * @type {Map<XRAnchor,XrAnchor>}
+     * @ignore
+     */
+    _index = new Map();
+
+    /**
+     * @type {Array<XrAnchor>}
+     * @ignore
+     */
+    _list = [];
+
+    /**
+     * Map of callbacks to XRAnchors so that we can call its callback once
+     * an anchor is updated with a pose for the first time.
+     *
+     * @type {Map<XrAnchor,XrAnchorCreate>}
+     * @private
+     */
+    _callbacksAnchors = new Map();
+
+    /**
+     * @param {import('./xr-manager.js').XrManager} manager - WebXR Manager.
+     * @hideconstructor
+     */
+    constructor(manager) {
+        super();
+
+        this.manager = manager;
+
+        if (this._supported) {
+            this.manager.on('end', this._onSessionEnd, this);
+        }
+    }
+
+    /**
+     * Fired when anchor failed to be created.
+     *
+     * @event XrAnchors#error
+     * @param {Error} error - Error object related to a failure of anchors.
+     */
+
+    /**
+     * Fired when a new {@link XrAnchor} is added.
+     *
+     * @event XrAnchors#add
+     * @param {XrAnchor} anchor - Anchor that has been added.
+     * @example
+     * app.xr.anchors.on('add', function (anchor) {
+     *     // new anchor is added
+     * });
+     */
+
+    /**
+     * Fired when an {@link XrAnchor} is destroyed.
+     *
+     * @event XrAnchors#destroy
+     * @param {XrAnchor} anchor - Anchor that has been destroyed.
+     * @example
+     * app.xr.anchors.on('destroy', function (anchor) {
+     *     // anchor that is destroyed
+     * });
+     */
+
+    /** @private */
+    _onSessionEnd() {
+        // clear anchor creation queue
+        for (let i = 0; i < this._creationQueue.length; i++) {
+            if (!this._creationQueue[i].callback)
+                continue;
+
+            this._creationQueue[i].callback(new Error('session ended'), null);
+        }
+        this._creationQueue.length = 0;
+
+        // destroy all anchors
+        if (this._list) {
+            let i = this._list.length;
+            while (i--) {
+                this._list[i].destroy();
+            }
+            this._list.length = 0;
+        }
+    }
+
+    /**
+     * Create anchor with position, rotation and a callback.
+     *
+     * @param {import('../../core/math/vec3.js').Vec3} position - Position for an anchor.
+     * @param {import('../../core/math/quat.js').Quat} [rotation] - Rotation for an anchor.
+     * @param {XrAnchorCreate} [callback] - Callback to fire when anchor was created or failed to be created.
+     * @example
+     * app.xr.anchors.create(position, rotation, function (err, anchor) {
+     *     if (!err) {
+     *         // new anchor has been created
+     *     }
+     * });
+     */
+    create(position, rotation, callback) {
+        this._creationQueue.push({
+            transform: new XRRigidTransform(position, rotation), // eslint-disable-line no-undef
+            callback: callback
+        });
+    }
+
+    /**
+     * @param {*} frame - XRFrame from requestAnimationFrame callback.
+     * @ignore
+     */
+    update(frame) {
+        // check if need to create anchors
+        if (this._creationQueue.length) {
+            for (let i = 0; i < this._creationQueue.length; i++) {
+                const request = this._creationQueue[i];
+
+                frame.createAnchor(request.transform, this.manager._referenceSpace)
+                    .then((xrAnchor) => {
+                        if (request.callback)
+                            this._callbacksAnchors.set(xrAnchor, request.callback);
+                    })
+                    .catch((ex) => {
+                        if (request.callback)
+                            request.callback(ex, null);
+
+                        this.fire('error', ex);
+                    });
+            }
+
+            this._creationQueue.length = 0;
+        }
+
+        // check if destroyed
+        for (const [xrAnchor, anchor] of this._index) {
+            if (frame.trackedAnchors.has(xrAnchor))
+                continue;
+
+            anchor.destroy();
+        }
+
+        // update existing anchors
+        for (let i = 0; i < this._list.length; i++) {
+            this._list[i].update(frame);
+        }
+
+        // check if added
+        for (const xrAnchor of frame.trackedAnchors) {
+            if (this._index.has(xrAnchor))
+                continue;
+
+            try {
+                const tmp = xrAnchor.anchorSpace; // eslint-disable-line no-unused-vars
+            } catch (ex) {
+                // if anchorSpace is not available, then anchor is invalid
+                // and should not be created
+                continue;
+            }
+
+            const anchor = new XrAnchor(this, xrAnchor);
+            this._index.set(xrAnchor, anchor);
+            this._list.push(anchor);
+            anchor.update(frame);
+
+            const callback = this._callbacksAnchors.get(xrAnchor);
+            if (callback) {
+                this._callbacksAnchors.delete(xrAnchor);
+                callback(null, anchor);
+            }
+
+            this.fire('add', anchor);
+        }
+    }
+
+    /**
+     * True if Anchors are supported.
+     *
+     * @type {boolean}
+     */
+    get supported() {
+        return this._supported;
+    }
+
+    /**
+     * List of available {@link XrAnchor}s.
+     *
+     * @type {Array<XrAnchor>}
+     */
+    get list() {
+        return this._list;
+    }
+}
+
+export { XrAnchors };
diff --git a/src/framework/xr/xr-manager.js b/src/framework/xr/xr-manager.js
index 0da070bd544..051ae143dc7 100644
--- a/src/framework/xr/xr-manager.js
+++ b/src/framework/xr/xr-manager.js
@@ -16,6 +16,7 @@ import { XrImageTracking } from './xr-image-tracking.js';
 import { XrInput } from './xr-input.js';
 import { XrLightEstimation } from './xr-light-estimation.js';
 import { XrPlaneDetection } from './xr-plane-detection.js';
+import { XrAnchors } from './xr-anchors.js';
 
 /**
  * Callback used by {@link XrManager#endXr} and {@link XrManager#startXr}.
@@ -75,7 +76,7 @@ class XrManager extends EventHandler {
 
     /**
      * @type {XRReferenceSpace|null}
-     * @private
+     * @ignore
      */
     _referenceSpace = null;
 
@@ -211,6 +212,7 @@ class XrManager extends EventHandler {
         this.planeDetection = new XrPlaneDetection(this);
         this.input = new XrInput(this);
         this.lightEstimation = new XrLightEstimation(this);
+        this.anchors = new XrAnchors(this);
 
         // TODO
         // 1. HMD class with its params
@@ -337,6 +339,8 @@ class XrManager extends EventHandler {
      * @param {object} [options] - Object with additional options for XR session initialization.
      * @param {string[]} [options.optionalFeatures] - Optional features for XRSession start. It is
      * used for getting access to additional WebXR spec extensions.
+     * @param {boolean} [options.anchors] - Set to true to attempt to enable
+     * {@link XrAnchors}.
      * @param {boolean} [options.imageTracking] - Set to true to attempt to enable
      * {@link XrImageTracking}.
      * @param {boolean} [options.planeDetection] - Set to true to attempt to enable
@@ -361,6 +365,8 @@ class XrManager extends EventHandler {
      * @example
      * button.on('click', function () {
      *     app.xr.start(camera, pc.XRTYPE_AR, pc.XRSPACE_LOCALFLOOR, {
+     *         anchors: true,
+     *         imageTracking: true,
      *         depthSensing: { }
      *     });
      * });
@@ -418,6 +424,10 @@ class XrManager extends EventHandler {
                 opts.domOverlay = { root: this.domOverlay.root };
             }
 
+            if (options && options.anchors && this.anchors.supported) {
+                opts.optionalFeatures.push('anchors');
+            }
+
             if (options && options.depthSensing && this.depthSensing.supported) {
                 opts.optionalFeatures.push('depth-sensing');
 
@@ -787,6 +797,9 @@ class XrManager extends EventHandler {
             if (this.imageTracking.supported)
                 this.imageTracking.update(frame);
 
+            if (this.anchors.supported)
+                this.anchors.update(frame);
+
             if (this.planeDetection.supported)
                 this.planeDetection.update(frame);
         }
diff --git a/src/index.js b/src/index.js
index 06b0ecdb4ac..9d1e6b6a29c 100644
--- a/src/index.js
+++ b/src/index.js
@@ -328,6 +328,8 @@ export { XrHitTestSource } from './framework/xr/xr-hit-test-source.js';
 export { XrImageTracking } from './framework/xr/xr-image-tracking.js';
 export { XrTrackedImage } from './framework/xr/xr-tracked-image.js';
 export { XrDomOverlay } from './framework/xr/xr-dom-overlay.js';
+export { XrAnchors } from './framework/xr/xr-anchors.js';
+export { XrAnchor } from './framework/xr/xr-anchor.js';
 export { XrPlaneDetection } from './framework/xr/xr-plane-detection.js';
 export { XrPlane } from './framework/xr/xr-plane.js';