diff --git a/cmd/core-command/res/configuration.toml b/cmd/core-command/res/configuration.toml
index 3daadd1a96..312a6ca5d6 100644
--- a/cmd/core-command/res/configuration.toml
+++ b/cmd/core-command/res/configuration.toml
@@ -54,7 +54,7 @@ Type = "consul"
   AuthMode = "usernamepassword"                   # required for redis messagebus (secure or insecure).
   SecretName = "redisdb"
     [MessageQueue.Internal.Topics]
-    RequestTopicPrefix = "edgex/command/request/"   # for publishing requests to the device service; <device-service>/<device-name>/<command-name>/<method> will be added to this publish topic prefix
+    RequestTopicPrefix = "edgex/command/request"    # for publishing requests to the device service; <device-service>/<device-name>/<command-name>/<method> will be added to this publish topic prefix
     ResponseTopic = "edgex/command/response/#"      # for subscribing to device service responses
     InternalRequestCommandTopic = "/command/request/#"     # for subscribing to internal command requests
     InternalResponseCommandTopicPrefix = "/command/response/"    # for publishing responses back to internal service /<device-name>/<command-name>/<method> will be added to this publish topic prefix
@@ -90,7 +90,7 @@ Type = "consul"
   AuthMode = "none"
     [MessageQueue.External.Topics]
     RequestCommandTopic = "edgex/command/request/#"           # for subscribing to 3rd party command requests
-    ResponseCommandTopicPrefix = "edgex/command/response/"    # for publishing responses back to 3rd party systems /<device-name>/<command-name>/<method> will be added to this publish topic prefix
+    ResponseCommandTopicPrefix = "edgex/command/response"     # for publishing responses back to 3rd party systems /<device-name>/<command-name>/<method> will be added to this publish topic prefix
     RequestQueryTopic = "edgex/commandquery/request/#"        # for subscribing to 3rd party command query request
     ResponseQueryTopic = "edgex/commandquery/response"        # for publishing responses back to 3rd party systems
 
diff --git a/internal/core/command/controller/messaging/external/external.go b/internal/core/command/controller/messaging/external/external.go
index ff28328091..90d5cc872b 100644
--- a/internal/core/command/controller/messaging/external/external.go
+++ b/internal/core/command/controller/messaging/external/external.go
@@ -6,6 +6,7 @@
 package external
 
 import (
+	"context"
 	"encoding/json"
 	"fmt"
 	"strconv"
@@ -25,8 +26,12 @@ import (
 )
 
 const (
-	RequestQueryTopic  = "RequestQueryTopic"
-	ResponseQueryTopic = "ResponseQueryTopic"
+	RequestQueryTopic          = "RequestQueryTopic"
+	ResponseQueryTopic         = "ResponseQueryTopic"
+	RequestCommandTopic        = "RequestCommandTopic"
+	ResponseCommandTopicPrefix = "ResponseCommandTopicPrefix"
+	RequestTopicPrefix         = "RequestTopicPrefix"
+	ResponseTopic              = "ResponseTopic"
 )
 
 func OnConnectHandler(dic *di.Container) mqtt.OnConnectHandler {
@@ -41,7 +46,12 @@ func OnConnectHandler(dic *di.Container) mqtt.OnConnectHandler {
 		responseQueryTopic := externalTopics[ResponseQueryTopic]
 		if token := client.Subscribe(requestQueryTopic, qos, commandQueryHandler(responseQueryTopic, qos, retain, dic)); token.Wait() && token.Error() != nil {
 			lc.Errorf("could not subscribe to topic '%s': %s", responseQueryTopic, token.Error().Error())
+			return
+		}
 
+		requestCommandTopic := externalTopics[RequestCommandTopic]
+		if token := client.Subscribe(requestCommandTopic, qos, commandRequestHandler(dic)); token.Wait() && token.Error() != nil {
+			lc.Errorf("could not subscribe to topic '%s': %s", responseQueryTopic, token.Error().Error())
 			return
 		}
 	}
@@ -55,8 +65,8 @@ func commandQueryHandler(responseTopic string, qos byte, retain bool, dic *di.Co
 
 		requestEnvelope, err := types.NewMessageEnvelopeFromJSON(message.Payload())
 		if err != nil {
-			responseEnvelope = types.NewMessageEnvelopeWithError(requestEnvelope.RequestID, err.Error())
-			publishMessage(client, responseTopic, qos, retain, responseEnvelope, lc)
+			lc.Errorf("Failed to decode request MessageEnvelope: %s", err.Error())
+			lc.Warn("Not publishing error message back due to insufficient information on response topic")
 			return
 		}
 
@@ -124,6 +134,82 @@ func commandQueryHandler(responseTopic string, qos byte, retain bool, dic *di.Co
 	}
 }
 
+func commandRequestHandler(dic *di.Container) mqtt.MessageHandler {
+	return func(client mqtt.Client, message mqtt.Message) {
+		lc := bootstrapContainer.LoggingClientFrom(dic.Get)
+		messageBusInfo := container.ConfigurationFrom(dic.Get).MessageQueue
+		qos := messageBusInfo.External.QoS
+		retain := messageBusInfo.External.Retain
+
+		requestEnvelope, err := types.NewMessageEnvelopeFromJSON(message.Payload())
+		if err != nil {
+			lc.Errorf("Failed to decode request MessageEnvelope: %s", err.Error())
+			lc.Warn("Not publishing error message back due to insufficient information on response topic")
+			return
+		}
+
+		// expected command request topic scheme: #/<device>/<command-name>/<method>
+		topicLevels := strings.Split(message.Topic(), "/")
+		length := len(topicLevels)
+		if length <= 3 {
+			lc.Error("Failed to parse and construct response topic scheme, expected request topic scheme: '#/<device-name>/<command-name>/<method>")
+			lc.Warn("Not publishing error message back due to insufficient information on response topic")
+			return
+		}
+		deviceName := topicLevels[length-3]
+		commandName := topicLevels[length-2]
+		method := topicLevels[length-1]
+		if !strings.EqualFold(method, "get") && !strings.EqualFold(method, "set") {
+			lc.Errorf("Unknown request method: %s, only 'get' or 'set' is allowed", method)
+			lc.Warn("Not publishing error message back due to insufficient information on response topic")
+			return
+		}
+		// expected command response topic scheme: #/<device>/<command-name>/<method>
+		externalResponseTopic := strings.Join([]string{messageBusInfo.External.Topics[ResponseCommandTopicPrefix], deviceName, commandName, method}, "/")
+
+		// retrieve device information through Metadata DeviceClient
+		dc := bootstrapContainer.DeviceClientFrom(dic.Get)
+		if dc == nil {
+			responseEnvelope := types.NewMessageEnvelopeWithError(requestEnvelope.RequestID, "nil Device Client")
+			publishMessage(client, externalResponseTopic, qos, retain, responseEnvelope, lc)
+			return
+		}
+		deviceResponse, err := dc.DeviceByName(context.Background(), deviceName)
+		if err != nil {
+			errorMessage := fmt.Sprintf("Failed to get Device by name %s: %v", deviceName, err)
+			responseEnvelope := types.NewMessageEnvelopeWithError(requestEnvelope.RequestID, errorMessage)
+			publishMessage(client, externalResponseTopic, qos, retain, responseEnvelope, lc)
+			return
+		}
+
+		// retrieve device service information through Metadata DeviceClient
+		dsc := bootstrapContainer.DeviceServiceClientFrom(dic.Get)
+		if dsc == nil {
+			responseEnvelope := types.NewMessageEnvelopeWithError(requestEnvelope.RequestID, "nil DeviceService Client")
+			publishMessage(client, externalResponseTopic, qos, retain, responseEnvelope, lc)
+			return
+		}
+		deviceServiceResponse, err := dsc.DeviceServiceByName(context.Background(), deviceResponse.Device.ServiceName)
+		if err != nil {
+			errorMessage := fmt.Sprintf("Failed to get DeviceService by name %s: %v", deviceResponse.Device.ServiceName, err)
+			responseEnvelope := types.NewMessageEnvelopeWithError(requestEnvelope.RequestID, errorMessage)
+			publishMessage(client, externalResponseTopic, qos, retain, responseEnvelope, lc)
+			return
+		}
+
+		// expected internal command request topic scheme: #/<device-service>/<device>/<command-name>/<method>
+		internalRequestTopic := strings.Join([]string{messageBusInfo.Internal.Topics[RequestTopicPrefix], deviceServiceResponse.Service.Name, deviceName, commandName, method}, "/")
+		internalMessageBus := bootstrapContainer.MessagingClientFrom(dic.Get)
+		err = internalMessageBus.Publish(requestEnvelope, internalRequestTopic)
+		if err != nil {
+			errorMessage := fmt.Sprintf("Failed to send DeviceCommand request with internal MessageBus: %v", err)
+			responseEnvelope := types.NewMessageEnvelopeWithError(requestEnvelope.RequestID, errorMessage)
+			publishMessage(client, externalResponseTopic, qos, retain, responseEnvelope, lc)
+			return
+		}
+	}
+}
+
 func publishMessage(client mqtt.Client, responseTopic string, qos byte, retain bool, message types.MessageEnvelope, lc logger.LoggingClient) {
 	if message.ErrorCode == 1 {
 		lc.Error(string(message.Payload))
diff --git a/internal/core/command/controller/messaging/external/external_test.go b/internal/core/command/controller/messaging/external/external_test.go
index 189e8f2523..89881c9cd1 100644
--- a/internal/core/command/controller/messaging/external/external_test.go
+++ b/internal/core/command/controller/messaging/external/external_test.go
@@ -10,6 +10,7 @@ import (
 	"encoding/json"
 	"errors"
 	"net/http"
+	"strings"
 	"testing"
 
 	bootstrapContainer "github.com/edgexfoundry/go-mod-bootstrap/v2/bootstrap/container"
@@ -21,27 +22,38 @@ import (
 	"github.com/edgexfoundry/go-mod-core-contracts/v2/dtos"
 	commonDTO "github.com/edgexfoundry/go-mod-core-contracts/v2/dtos/common"
 	"github.com/edgexfoundry/go-mod-core-contracts/v2/dtos/responses"
+	edgexErr "github.com/edgexfoundry/go-mod-core-contracts/v2/errors"
+	"github.com/edgexfoundry/go-mod-messaging/v2/messaging/mocks"
 	"github.com/edgexfoundry/go-mod-messaging/v2/pkg/types"
 	"github.com/stretchr/testify/mock"
 	"github.com/stretchr/testify/require"
 
 	"github.com/edgexfoundry/edgex-go/internal/core/command/config"
 	"github.com/edgexfoundry/edgex-go/internal/core/command/container"
-	"github.com/edgexfoundry/edgex-go/internal/core/command/controller/messaging/mocks"
+	mqttMocks "github.com/edgexfoundry/edgex-go/internal/core/command/controller/messaging/mocks"
 )
 
 const (
 	mockHost = "127.0.0.1"
 	mockPort = 66666
 
-	testProfileName  = "testProfile"
-	testResourceName = "testResource"
-	testDeviceName   = "testDevice"
+	testProfileName       = "testProfile"
+	testResourceName      = "testResource"
+	testDeviceName        = "testDevice"
+	testDeviceServiceName = "testService"
+	testCommandName       = "testCommand"
+	testMethod            = "get"
 
-	testRequestQueryTopic             = "unittest/#"
-	testRequestQueryAllTopic          = "unittest/all"
-	testRequestQueryByDeviceNameTopic = "unittest/testDevice"
-	testResponseTopic                 = "unittest/response"
+	testQueryRequestTopic        = "unittest/#"
+	testQueryAllExample          = "unittest/all"
+	testQueryByDeviceNameExample = "unittest/testDevice"
+	testQueryResponseTopic       = "unittest/response"
+
+	testExternalCommandRequestTopic        = "unittest/external/request/#"
+	testExternalCommandRequestTopicExample = "unittest/external/request/testDevice/testCommand/get"
+	testExternalCommandResponseTopicPrefix = "unittest/external/response"
+
+	testInternalCommandRequestTopicPrefix = "unittest/internal/request"
 )
 
 func TestOnConnectHandler(t *testing.T) {
@@ -54,8 +66,10 @@ func TestOnConnectHandler(t *testing.T) {
 					Required: false,
 					External: bootstrapConfig.ExternalMQTTInfo{
 						Topics: map[string]string{
-							RequestQueryTopic:  testRequestQueryTopic,
-							ResponseQueryTopic: testResponseTopic,
+							RequestQueryTopic:          testQueryRequestTopic,
+							ResponseQueryTopic:         testQueryResponseTopic,
+							RequestCommandTopic:        testExternalCommandRequestTopic,
+							ResponseCommandTopicPrefix: testExternalCommandResponseTopicPrefix,
 						},
 						QoS:    0,
 						Retain: true,
@@ -77,7 +91,7 @@ func TestOnConnectHandler(t *testing.T) {
 	}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
-			token := &mocks.Token{}
+			token := &mqttMocks.Token{}
 			token.On("Wait").Return(true)
 			if tt.expectedSucceed {
 				token.On("Error").Return(nil)
@@ -85,16 +99,19 @@ func TestOnConnectHandler(t *testing.T) {
 				token.On("Error").Return(errors.New("error"))
 			}
 
-			client := &mocks.Client{}
-			client.On("Subscribe", testRequestQueryTopic, byte(0), mock.Anything).Return(token)
+			client := &mqttMocks.Client{}
+			client.On("Subscribe", testQueryRequestTopic, byte(0), mock.Anything).Return(token)
+			client.On("Subscribe", testExternalCommandRequestTopic, byte(0), mock.Anything).Return(token)
 
 			fn := OnConnectHandler(dic)
 			fn(client)
 
-			client.AssertCalled(t, "Subscribe", testRequestQueryTopic, byte(0), mock.Anything)
-			if !tt.expectedSucceed {
-				lc.AssertCalled(t, "Errorf", mock.Anything, mock.Anything, mock.Anything)
+			if tt.expectedSucceed {
+				client.AssertNumberOfCalls(t, "Subscribe", 2)
+				return
 			}
+
+			lc.AssertCalled(t, "Errorf", mock.Anything, mock.Anything, mock.Anything)
 		})
 	}
 }
@@ -136,7 +153,9 @@ func Test_commandQueryHandler(t *testing.T) {
 
 	lc := &lcMocks.LoggingClient{}
 	lc.On("Error", mock.Anything).Return(nil)
+	lc.On("Errorf", mock.Anything, mock.Anything).Return(nil)
 	lc.On("Debugf", mock.Anything, mock.Anything, mock.Anything).Return(nil)
+	lc.On("Warn", mock.Anything).Return(nil)
 	dc := &clientMocks.DeviceClient{}
 	dc.On("AllDevices", context.Background(), []string(nil), common.DefaultOffset, common.DefaultLimit).Return(allDevicesResponse, nil)
 	dc.On("DeviceByName", context.Background(), testDeviceName).Return(deviceResponse, nil)
@@ -163,51 +182,202 @@ func Test_commandQueryHandler(t *testing.T) {
 		},
 	})
 
-	validPayload := testPayload()
-	invalidRequestPayload := testPayload()
+	validPayload := testCommandQueryPayload()
+	invalidRequestPayload := testCommandQueryPayload()
 	invalidRequestPayload.ApiVersion = "v1"
-	invalidQueryParamsPayload := testPayload()
+	invalidQueryParamsPayload := testCommandQueryPayload()
 	invalidQueryParamsPayload.QueryParams[common.Offset] = "invalid"
 
 	tests := []struct {
-		name              string
-		requestQueryTopic string
-		payload           types.MessageEnvelope
-		expectedError     bool
+		name                 string
+		requestQueryTopic    string
+		payload              types.MessageEnvelope
+		expectedError        bool
+		expectedPublishError bool
 	}{
-		{"valid - query all", testRequestQueryAllTopic, validPayload, false},
-		{"valid - query by device name", testRequestQueryByDeviceNameTopic, validPayload, false},
-		{"invalid - invalid request json payload", testRequestQueryByDeviceNameTopic, invalidRequestPayload, true},
-		{"invalid - invalid query parameters", testRequestQueryAllTopic, invalidQueryParamsPayload, true},
+		{"valid - query all", testQueryAllExample, validPayload, false, false},
+		{"valid - query by device name", testQueryByDeviceNameExample, validPayload, false, false},
+		{"invalid - invalid request json payload", testQueryByDeviceNameExample, invalidRequestPayload, true, false},
+		{"invalid - invalid query parameters", testQueryAllExample, invalidQueryParamsPayload, true, true},
 	}
 	for _, tt := range tests {
 		t.Run(tt.name, func(t *testing.T) {
 			payloadBytes, err := json.Marshal(tt.payload)
 			require.NoError(t, err)
 
-			message := &mocks.Message{}
+			message := &mqttMocks.Message{}
 			message.On("Payload").Return(payloadBytes)
 			message.On("Topic").Return(tt.requestQueryTopic)
 
-			token := &mocks.Token{}
+			token := &mqttMocks.Token{}
 			token.On("Wait").Return(true)
 			token.On("Error").Return(nil)
 
-			client := &mocks.Client{}
-			client.On("Publish", testResponseTopic, byte(0), true, mock.Anything).Return(token)
+			mqttClient := &mqttMocks.Client{}
+			mqttClient.On("Publish", testQueryResponseTopic, byte(0), true, mock.Anything).Return(token)
 
-			fn := commandQueryHandler(testResponseTopic, 0, true, dic)
-			fn(client, message)
+			fn := commandQueryHandler(testQueryResponseTopic, 0, true, dic)
+			fn(mqttClient, message)
+			if tt.expectedError {
+				if tt.expectedPublishError {
+					lc.AssertCalled(t, "Error", mock.Anything)
+					mqttClient.AssertCalled(t, "Publish", testQueryResponseTopic, byte(0), true, mock.Anything)
+					return
+				}
+				lc.AssertCalled(t, "Warn", mock.Anything)
+				return
+			}
+
+			mqttClient.AssertCalled(t, "Publish", testQueryResponseTopic, byte(0), true, mock.Anything)
 			lc.AssertCalled(t, "Debugf", mock.Anything, mock.Anything, mock.Anything)
+		})
+	}
+}
+
+func Test_commandRequestHandler(t *testing.T) {
+	unknownDevice := "unknown-device"
+	unknownServiceDevice := "unknownService-device"
+	unknownService := "unknown-service"
+
+	deviceResponse := responses.DeviceResponse{
+		BaseResponse: commonDTO.NewBaseResponse("", "", http.StatusOK),
+		Device: dtos.Device{
+			Name:        testDeviceName,
+			ProfileName: testProfileName,
+			ServiceName: testDeviceServiceName,
+		},
+	}
+	unknownServiceDeviceResponse := responses.DeviceResponse{
+		BaseResponse: commonDTO.NewBaseResponse("", "", http.StatusOK),
+		Device: dtos.Device{
+			Name:        unknownServiceDevice,
+			ProfileName: testProfileName,
+			ServiceName: unknownService,
+		},
+	}
+	deviceServiceResponse := responses.DeviceServiceResponse{
+		BaseResponse: commonDTO.NewBaseResponse("", "", http.StatusOK),
+		Service: dtos.DeviceService{
+			Name: testDeviceServiceName,
+		},
+	}
+
+	lc := &lcMocks.LoggingClient{}
+	lc.On("Error", mock.Anything).Return(nil)
+	lc.On("Errorf", mock.Anything, mock.Anything).Return(nil)
+	lc.On("Debugf", mock.Anything, mock.Anything, mock.Anything).Return(nil)
+	lc.On("Warn", mock.Anything).Return(nil)
+	dc := &clientMocks.DeviceClient{}
+	dc.On("DeviceByName", context.Background(), testDeviceName).Return(deviceResponse, nil)
+	dc.On("DeviceByName", context.Background(), unknownDevice).Return(responses.DeviceResponse{}, edgexErr.NewCommonEdgeX(edgexErr.KindEntityDoesNotExist, "unknown device", nil))
+	dc.On("DeviceByName", context.Background(), unknownServiceDevice).Return(unknownServiceDeviceResponse, nil)
+	dsc := &clientMocks.DeviceServiceClient{}
+	dsc.On("DeviceServiceByName", context.Background(), testDeviceServiceName).Return(deviceServiceResponse, nil)
+	dsc.On("DeviceServiceByName", context.Background(), unknownService).Return(responses.DeviceServiceResponse{}, edgexErr.NewCommonEdgeX(edgexErr.KindEntityDoesNotExist, "unknown device service", nil))
+	client := &mocks.MessageClient{}
+	client.On("Publish", mock.Anything, mock.Anything).Return(nil)
+	dic := di.NewContainer(di.ServiceConstructorMap{
+		container.ConfigurationName: func(get di.Get) interface{} {
+			return &config.ConfigurationStruct{
+				Service: bootstrapConfig.ServiceInfo{
+					Host:           mockHost,
+					Port:           mockPort,
+					MaxResultCount: 20,
+				},
+				MessageQueue: config.MessageQueue{
+					Required: true,
+					Internal: bootstrapConfig.MessageBusInfo{
+						Topics: map[string]string{
+							RequestTopicPrefix: testInternalCommandRequestTopicPrefix,
+						},
+					},
+					External: bootstrapConfig.ExternalMQTTInfo{
+						QoS:    0,
+						Retain: true,
+						Topics: map[string]string{
+							ResponseCommandTopicPrefix: testExternalCommandResponseTopicPrefix,
+						},
+					},
+				},
+			}
+		},
+		bootstrapContainer.LoggingClientInterfaceName: func(get di.Get) interface{} {
+			return lc
+		},
+		bootstrapContainer.DeviceClientName: func(get di.Get) interface{} {
+			return dc
+		},
+		bootstrapContainer.DeviceServiceClientName: func(get di.Get) interface{} {
+			return dsc
+		},
+		bootstrapContainer.MessagingClientName: func(get di.Get) interface{} {
+			return client
+		},
+	})
+
+	validPayload := testCommandRequestPayload()
+	invalidRequestPayload := testCommandRequestPayload()
+	invalidRequestPayload.ApiVersion = "v1"
+
+	tests := []struct {
+		name                 string
+		commandRequestTopic  string
+		payload              types.MessageEnvelope
+		expectedError        bool
+		expectedPublishError bool
+	}{
+		{"valid", testExternalCommandRequestTopicExample, validPayload, false, false},
+		{"invalid - invalid request json payload", testExternalCommandRequestTopicExample, invalidRequestPayload, true, false},
+		{"invalid - invalid request topic scheme", "unittest/invalid", validPayload, true, false},
+		{"invalid - unrecognized command method", "unittest/request/testDevice/testCommand/invalid", validPayload, true, false},
+		{"invalid - device not found", "unittest/request/unknown-device/testCommand/get", validPayload, true, true},
+		{"invalid - device service not found", "unittest/request/unknownService-device/testCommand/get", validPayload, true, true},
+	}
+	for _, tt := range tests {
+		t.Run(tt.name, func(t *testing.T) {
+			payloadBytes, err := json.Marshal(tt.payload)
+			require.NoError(t, err)
+
+			message := &mqttMocks.Message{}
+			message.On("Payload").Return(payloadBytes)
+			message.On("Topic").Return(tt.commandRequestTopic)
+
+			token := &mqttMocks.Token{}
+			token.On("Wait").Return(true)
+			token.On("Error").Return(nil)
+
+			mqttClient := &mqttMocks.Client{}
+			mqttClient.On("Publish", mock.Anything, byte(0), true, mock.Anything).Return(token)
+
+			fn := commandRequestHandler(dic)
+			fn(mqttClient, message)
 			if tt.expectedError {
-				lc.AssertCalled(t, "Error", mock.Anything)
+				if tt.expectedPublishError {
+					lc.AssertCalled(t, "Error", mock.Anything)
+					mqttClient.AssertCalled(t, "Publish", mock.Anything, byte(0), true, mock.Anything)
+					return
+				}
+				lc.AssertCalled(t, "Warn", mock.Anything)
+				return
 			}
+
+			expectedInternalRequestTopic := strings.Join([]string{testInternalCommandRequestTopicPrefix, testDeviceServiceName, testDeviceName, testCommandName, testMethod}, "/")
+			client.AssertCalled(t, "Publish", tt.payload, expectedInternalRequestTopic)
 		})
 	}
 }
 
-func testPayload() types.MessageEnvelope {
+func testCommandQueryPayload() types.MessageEnvelope {
 	payload := types.NewMessageEnvelopeForRequest(nil, nil)
 
 	return payload
 }
+
+func testCommandRequestPayload() types.MessageEnvelope {
+	payload := types.NewMessageEnvelopeForRequest(nil, map[string]string{
+		"ds-pushevent":   "yes",
+		"ds-returnevent": "yes",
+	})
+
+	return payload
+}