diff --git a/crates/bevy_ecs/src/query/iter.rs b/crates/bevy_ecs/src/query/iter.rs
index b88b3030e58d14..026599062558a3 100644
--- a/crates/bevy_ecs/src/query/iter.rs
+++ b/crates/bevy_ecs/src/query/iter.rs
@@ -211,34 +211,144 @@ where
 {
 }
 
-                if !self
-                    .query_state
-                    .matched_archetypes
-                    .contains(location.archetype_id.index())
-                {
-                    continue;
-                }
+///
+///
+/// This struct is created by the [`Query::iter_join_map`](crate::system::Query::iter_join_map) and [`Query::iter_join_map_mut`](crate::system::Query::iter_join_map_mut) methods.
+pub struct QueryJoinMapIter<'w, 's, Q: WorldQuery, QQ, F: WorldQuery, I: Iterator, MapFn>
+where
+    QQ: WorldQuery<State = Q::State>,
+    MapFn: FnMut(&I::Item) -> Entity,
+{
+    list: I,
+    map_f: MapFn,
+    entities: &'w Entities,
+    tables: &'w Tables,
+    archetypes: &'w Archetypes,
+    fetch: QueryFetch<'w, QQ>,
+    filter: QueryFetch<'w, F>,
+    query_state: &'s QueryState<Q, F>,
+}
 
-                let archetype = &self.archetypes[location.archetype_id];
+impl<'w, 's, Q: WorldQuery, QQ, F: WorldQuery, I: Iterator, MapFn>
+    QueryJoinMapIter<'w, 's, Q, QQ, F, I, MapFn>
+where
+    QQ: WorldQuery<State = Q::State>,
+    MapFn: FnMut(&I::Item) -> Entity,
+{
+    /// # Safety
+    /// This does not check for mutable query correctness. To be safe, make sure mutable queries
+    /// have unique access to the components they query.
+    /// This does not validate that `world.id()` matches `query_state.world_id`. Calling this on a `world`
+    /// with a mismatched [`WorldId`](crate::world::WorldId) is unsound.
+    pub(crate) unsafe fn new<II: IntoIterator<IntoIter = I>>(
+        world: &'w World,
+        query_state: &'s QueryState<Q, F>,
+        last_change_tick: u32,
+        change_tick: u32,
+        entity_map: II,
+        map_f: MapFn,
+    ) -> QueryJoinMapIter<'w, 's, Q, QQ, F, I, MapFn> {
+        let fetch = QueryFetch::<QQ>::init(
+            world,
+            &query_state.fetch_state,
+            last_change_tick,
+            change_tick,
+        );
+        let filter = QueryFetch::<F>::init(
+            world,
+            &query_state.filter_state,
+            last_change_tick,
+            change_tick,
+        );
+        QueryJoinMapIter {
+            query_state,
+            entities: &world.entities,
+            archetypes: &world.archetypes,
+            tables: &world.storages.tables,
+            fetch,
+            filter,
+            list: entity_map.into_iter(),
+            map_f,
+        }
+    }
 
-                self.fetch
-                    .set_archetype(&self.query_state.fetch_state, archetype, self.tables);
-                self.filter
-                    .set_archetype(&self.query_state.filter_state, archetype, self.tables);
-                if self.filter.archetype_filter_fetch(location.index) {
-                    return Some(self.fetch.archetype_fetch(location.index));
-                }
+    /// SAFETY:
+    /// The lifetime here is not restrictive enough for Fetch with &mut access,
+    /// as calling `fetch_next_aliased_unchecked` multiple times can produce multiple
+    /// references to the same component, leading to unique reference aliasing.
+    ///
+    /// It is always safe for immutable borrows.
+    #[inline(always)]
+    unsafe fn fetch_next_aliased_unchecked(&mut self) -> Option<(QueryItem<'w, QQ>, I::Item)> {
+        for item in self.list.by_ref() {
+            let location = match self.entities.get((self.map_f)(&item)) {
+                Some(location) => location,
+                None => continue,
+            };
+
+            if !self
+                .query_state
+                .matched_archetypes
+                .contains(location.archetype_id.index())
+            {
+                continue;
             }
-            None
+
+            let archetype = &self.archetypes[location.archetype_id];
+
+            self.fetch
+                .set_archetype(&self.query_state.fetch_state, archetype, self.tables);
+            self.filter
+                .set_archetype(&self.query_state.filter_state, archetype, self.tables);
+            if self.filter.archetype_filter_fetch(location.index) {
+                return Some((self.fetch.archetype_fetch(location.index), item));
+            }
+        }
+        None
+    }
+
+    /// Get next item from the inner join
+    #[inline(always)]
+    pub fn fetch_next(&mut self) -> Option<(QueryItem<'_, QQ>, I::Item)> {
+        // safety: we are limiting the returned reference to self,
+        // making sure this method cannot be called multiple times without getting rid
+        // of any previously returned unique references first, thus preventing aliasing.
+        unsafe {
+            self.fetch_next_aliased_unchecked()
+                .map(|(q_item, item)| (QQ::shrink(q_item), item))
         }
     }
+}
+
+impl<'w, 's, Q: WorldQuery, QQ, F: WorldQuery, I: Iterator, MapFn> Iterator
+    for QueryJoinMapIter<'w, 'w, Q, QQ, F, I, MapFn>
+where
+    QQ: ReadOnlyWorldQuery<State = Q::State>,
+    MapFn: FnMut(&I::Item) -> Entity,
+{
+    type Item = (QueryItem<'w, QQ>, I::Item);
+
+    #[inline(always)]
+    fn next(&mut self) -> Option<Self::Item> {
+        // SAFETY: it is safe to alias for ReadOnlyWorldQuery
+        unsafe { self.fetch_next_aliased_unchecked() }
+    }
 
     fn size_hint(&self) -> (usize, Option<usize>) {
-        let (_, max_size) = self.entity_iter.size_hint();
+        let (_, max_size) = self.list.size_hint();
         (0, max_size)
     }
 }
 
+// This is correct as [`QueryJoinMapIter`] always returns `None` once exhausted.
+impl<'w, 's, Q: WorldQuery, QQ, F: WorldQuery, I: Iterator, MapFn: FnMut(&I::Item) -> Entity>
+    FusedIterator for QueryJoinMapIter<'w, 'w, Q, QQ, F, I, MapFn>
+where
+    QQ: ReadOnlyWorldQuery<State = Q::State>,
+    MapFn: FnMut(&I::Item) -> Entity,
+{
+}
+
 pub struct QueryCombinationIter<'w, 's, Q: WorldQuery, QQ, F: WorldQuery, const K: usize>
 where
     QQ: WorldQuery<State = Q::State>,
diff --git a/crates/bevy_ecs/src/query/state.rs b/crates/bevy_ecs/src/query/state.rs
index f2d99153de4013..1072dd7ae01128 100644
--- a/crates/bevy_ecs/src/query/state.rs
+++ b/crates/bevy_ecs/src/query/state.rs
@@ -558,6 +558,48 @@ impl<Q: WorldQuery, F: WorldQuery> QueryState<Q, F> {
         }
     }
 
+    /// Returns an [`Iterator`] over the inner join of the results of a query and list of items mapped to [`Entity`]'s.
+    ///
+    /// This can only be called for read-only queries, see [`Self::iter_list_mut`] for write-queries.
+    #[inline]
+    pub fn iter_join_map<'w, 's, I: IntoIterator, MapFn: FnMut(&I::Item) -> Entity>(
+        &'s mut self,
+        world: &'w World,
+        list: I,
+        map_f: MapFn,
+    ) -> QueryJoinMapIter<'w, 's, Q, Q::ReadOnly, F, I::IntoIter, MapFn> {
+        self.update_archetypes(world);
+        unsafe {
+            self.iter_join_map_unchecked_manual(
+                world,
+                world.last_change_tick(),
+                world.read_change_tick(),
+                list,
+                map_f,
+            )
+        }
+    }
+
+    /// Returns an iterator over the inner join of the results of a query and list of items mapped to [`Entity`]'s.
+    #[inline]
+    pub fn iter_join_map_mut<'w, 's, I: IntoIterator, MapFn: FnMut(&I::Item) -> Entity>(
+        &'s mut self,
+        world: &'w mut World,
+        list: I,
+        map_f: MapFn,
+    ) -> QueryJoinMapIter<'w, 's, Q, Q, F, I::IntoIter, MapFn> {
+        self.update_archetypes(world);
+        unsafe {
+            self.iter_join_map_unchecked_manual(
+                world,
+                world.last_change_tick(),
+                world.read_change_tick(),
+                list,
+                map_f,
+            )
+        }
+    }
+
     /// Returns an [`Iterator`] over all possible combinations of `K` query results without repetition.
     /// This can only be called for read-only queries.
     ///
@@ -694,6 +736,30 @@ impl<Q: WorldQuery, F: WorldQuery> QueryState<Q, F> {
         QueryEntityListIter::new(world, self, last_change_tick, change_tick, entities)
     }
 
+    /// Returns an [`Iterator`] over each item in an inner join on [`Entity`] between the query and a list of items which are mapped to [`Entity`]'s.
+    ///
+    /// # Safety
+    ///
+    /// This does not check for mutable query correctness. To be safe, make sure mutable queries
+    /// have unique access to the components they query.
+    /// This does not validate that `world.id()` matches `self.world_id`. Calling this on a `world`
+    /// with a mismatched [`WorldId`] is unsound.
+    #[inline]
+    pub(crate) unsafe fn iter_join_map_unchecked_manual<
+        'w,
+        's,
+        I: IntoIterator,
+        MapFn: FnMut(&I::Item) -> Entity,
+        QQ: WorldQuery<State = Q::State>,
+    >(
+        &'s self,
+        world: &'w World,
+        last_change_tick: u32,
+        change_tick: u32,
+        list: I,
+        map_f: MapFn,
+    ) -> QueryJoinMapIter<'w, 's, Q, QQ, F, I::IntoIter, MapFn> {
+        QueryJoinMapIter::new(world, self, last_change_tick, change_tick, list, map_f)
     }
 
     /// Returns an [`Iterator`] over all possible combinations of `K` query results for the
diff --git a/crates/bevy_ecs/src/system/mod.rs b/crates/bevy_ecs/src/system/mod.rs
index 276f53a47dac89..0698ee910ab83f 100644
--- a/crates/bevy_ecs/src/system/mod.rs
+++ b/crates/bevy_ecs/src/system/mod.rs
@@ -106,6 +106,7 @@ mod tests {
         bundle::Bundles,
         component::{Component, Components},
         entity::{Entities, Entity},
+        event::{EventReader, Events},
         prelude::AnyOf,
         query::{Added, Changed, Or, With, Without},
         schedule::{Schedule, Stage, SystemStage},
@@ -1045,4 +1046,55 @@ mod tests {
         }
         run_system(&mut world, check_2);
     }
+
+    #[test]
+    fn iter_join_map() {
+        struct DamageEvent {
+            target: Entity,
+            damage: f32,
+        }
+
+        #[derive(Component, PartialEq, Debug)]
+        struct Health(f32);
+
+        let mut world = World::new();
+
+        let e1 = world.spawn().insert(Health(200.)).id();
+        let e2 = world.spawn().insert(Health(100.)).id();
+
+        let mut events = Events::<DamageEvent>::default();
+
+        events.extend([
+            DamageEvent {
+                target: e1,
+                damage: 50.,
+            },
+            DamageEvent {
+                target: e2,
+                damage: 80.,
+            },
+            DamageEvent {
+                target: e1,
+                damage: 150.,
+            },
+        ]);
+
+        world.insert_resource(events);
+
+        fn process_damage_events(
+            mut health_query: Query<&mut Health>,
+            mut event_reader: EventReader<DamageEvent>,
+        ) {
+            let mut join =
+                health_query.iter_join_map_mut(event_reader.iter(), |event| event.target);
+            while let Some((mut health, event)) = join.fetch_next() {
+                health.0 -= event.damage;
+            }
+        }
+        run_system(&mut world, process_damage_events);
+
+        run_system(&mut world, move |health_query: Query<&Health>| {
+            assert_eq!([&Health(0.), &Health(20.)], health_query.many([e1, e2]));
+        });
+    }
 }
diff --git a/crates/bevy_ecs/src/system/query.rs b/crates/bevy_ecs/src/system/query.rs
index a1f8740d3c36b3..e809f749d96d8c 100644
--- a/crates/bevy_ecs/src/system/query.rs
+++ b/crates/bevy_ecs/src/system/query.rs
@@ -3,8 +3,8 @@ use crate::{
     entity::Entity,
     query::{
         NopFetch, QueryCombinationIter, QueryEntityError, QueryEntityListIter, QueryFetch,
-        QueryItem, QueryIter, QuerySingleError, QueryState, ROQueryFetch, ROQueryItem,
-        ReadOnlyWorldQuery, WorldQuery,
+        QueryItem, QueryIter, QueryJoinMapIter, QuerySingleError, QueryState, ROQueryFetch,
+        ROQueryItem, ReadOnlyWorldQuery, WorldQuery,
     },
     world::{Mut, World},
 };
@@ -487,9 +487,93 @@ impl<'w, 's, Q: WorldQuery, F: WorldQuery> Query<'w, 's, Q, F> {
         }
     }
 
+    /// Returns an [`Iterator`] over the inner join of the results of a [`Query`] and list of items mapped to [`Entity`]'s.
+    ///
+    /// # Example
+    /// ```
+    /// # use bevy_ecs::prelude::*;
+    /// # #[derive(Component)]
+    /// # struct Health {
+    /// #     value: f32
+    /// # }
+    /// #[derive(Component)]
+    /// struct DamageEvent {
+    ///     target: Entity,
+    ///     damage: f32,
+    /// }
+    ///
+    /// fn system(
+    ///     mut damage_events: EventReader<DamageEvent>,
+    ///     health_query: Query<&Health>,
+    /// ) {
+    ///     for (health, event) in
+    ///         health_query.iter_join_map(damage_events.iter(), |event| event.target)
+    ///     {
+    ///         println!("Entity has {} health and will take {} damage!", health.value, event.damage);
+    ///     }
+    /// }
+    /// # bevy_ecs::system::assert_is_system(system);
+    /// ```
+    #[inline]
+    pub fn iter_join_map<I: IntoIterator, MapFn: FnMut(&I::Item) -> Entity>(
+        &self,
+        list: I,
+        map_f: MapFn,
+    ) -> QueryJoinMapIter<'w, 's, Q, Q::ReadOnly, F, I::IntoIter, MapFn> {
+        // SAFETY: system runs without conflicts with other systems.
+        // same-system queries have runtime borrow checks when they conflict
+        unsafe {
+            self.state.iter_join_map_unchecked_manual(
+                self.world,
+                self.last_change_tick,
+                self.change_tick,
+                list,
+                map_f,
+            )
+        }
+    }
+
+    /// Returns an iterator over the inner join of the results of a [`Query`] and list of items mapped to [`Entity`]'s.
+    ///
+    /// # Example
+    /// ```
+    /// # use bevy_ecs::prelude::*;
+    /// # #[derive(Component)]
+    /// # struct Health {
+    /// #     value: f32
+    /// # }
+    /// #[derive(Component)]
+    /// struct DamageEvent {
+    ///     target: Entity,
+    ///     damage: f32,
+    /// }
+    ///
+    /// fn system(
+    ///     mut damage_events: EventReader<DamageEvent>,
+    ///     mut health_query: Query<&mut Health>,
+    /// ) {
+    ///     let mut join = health_query.iter_join_map_mut(damage_events.iter(), |event| event.target);
+    ///     while let Some((mut health, event)) = join.fetch_next() {
+    ///         health.value -= event.damage;
+    ///     }
+    /// }
+    /// # bevy_ecs::system::assert_is_system(system);
+    /// ```
+    #[inline]
+    pub fn iter_join_map_mut<I: IntoIterator, MapFn: FnMut(&I::Item) -> Entity>(
+        &mut self,
+        list: I,
+        map_f: MapFn,
+    ) -> QueryJoinMapIter<'_, '_, Q, Q, F, I::IntoIter, MapFn> {
+        // SAFETY: system runs without conflicts with other systems.
+        // same-system queries have runtime borrow checks when they conflict
+        unsafe {
+            self.state.iter_join_map_unchecked_manual(
                 self.world,
                 self.last_change_tick,
                 self.change_tick,
+                list,
+                map_f,
             )
         }
     }
diff --git a/crates/bevy_ecs_compile_fail_tests/tests/ui/system_query_iter_join_map_mut_lifetime_safety.rs b/crates/bevy_ecs_compile_fail_tests/tests/ui/system_query_iter_join_map_mut_lifetime_safety.rs
new file mode 100644
index 00000000000000..5b5e665fa8daab
--- /dev/null
+++ b/crates/bevy_ecs_compile_fail_tests/tests/ui/system_query_iter_join_map_mut_lifetime_safety.rs
@@ -0,0 +1,15 @@
+use bevy_ecs::prelude::*;
+
+#[derive(Component)]
+struct A(usize);
+
+fn system(mut query: Query<&mut A>, e: Res<Entity>) {
+    let mut results = Vec::new();
+    let mut iter = query.iter_join_map_mut([*e, *e], |e| *e);
+    while let Some(a) = iter.fetch_next() {
+        // this should fail to compile
+        results.push(a);
+    }
+}
+
+fn main() {}
diff --git a/crates/bevy_ecs_compile_fail_tests/tests/ui/system_query_iter_join_map_mut_lifetime_safety.stderr b/crates/bevy_ecs_compile_fail_tests/tests/ui/system_query_iter_join_map_mut_lifetime_safety.stderr
new file mode 100644
index 00000000000000..0238cf418a2ee1
--- /dev/null
+++ b/crates/bevy_ecs_compile_fail_tests/tests/ui/system_query_iter_join_map_mut_lifetime_safety.stderr
@@ -0,0 +1,5 @@
+error[E0499]: cannot borrow `iter` as mutable more than once at a time
+ --> tests/ui/system_query_iter_join_map_mut_lifetime_safety.rs:9:25
+  |
+9 |     while let Some(a) = iter.fetch_next() {
+  |                         ^^^^^^^^^^^^^^^^^ `iter` was mutably borrowed here in the previous iteration of the loop