diff --git a/samples/subsys/instrumentation/CMakeLists.txt b/samples/subsys/instrumentation/CMakeLists.txt
new file mode 100644
index 000000000000000..5a2607a8a62e903
--- /dev/null
+++ b/samples/subsys/instrumentation/CMakeLists.txt
@@ -0,0 +1,8 @@
+# SPDX-License-Identifier: Apache-2.0
+
+cmake_minimum_required(VERSION 3.20.0)
+
+find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
+project(instrumentation)
+
+target_sources(app PRIVATE src/main.c)
diff --git a/samples/subsys/instrumentation/boards/b_u585i_iot02a.overlay b/samples/subsys/instrumentation/boards/b_u585i_iot02a.overlay
new file mode 100644
index 000000000000000..1f26ea533856d1b
--- /dev/null
+++ b/samples/subsys/instrumentation/boards/b_u585i_iot02a.overlay
@@ -0,0 +1,36 @@
+/*
+ * Copyright 2023 Linaro
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <common/mem.h>
+
+/ {
+	sram@200BF000 {
+		compatible = "zephyr,memory-region", "mmio-sram";
+		reg = <0x200BF000 0x20>;
+		zephyr,memory-region = "RetainedMem";
+		status = "okay";
+
+		retainedmem {
+			compatible = "zephyr,retained-ram";
+			status = "okay";
+			#address-cells = <1>;
+			#size-cells = <1>;
+
+			retention0: retention@0 {
+				compatible = "zephyr,retention";
+				status = "okay";
+
+				reg = <0x0 0x20>;
+
+				prefix = [BE EF];
+			};
+               };
+	};
+};
+
+&sram0 {
+       reg = <0x20000000 DT_SIZE_K(764)>;
+};
diff --git a/samples/subsys/instrumentation/prj.conf b/samples/subsys/instrumentation/prj.conf
new file mode 100644
index 000000000000000..c1c52c5cf379cc5
--- /dev/null
+++ b/samples/subsys/instrumentation/prj.conf
@@ -0,0 +1,2 @@
+CONFIG_INSTRUMENTATION=y
+CONFIG_MAIN_STACK_SIZE=4096
diff --git a/samples/subsys/instrumentation/src/main.c b/samples/subsys/instrumentation/src/main.c
new file mode 100644
index 000000000000000..340f2e5a1982177
--- /dev/null
+++ b/samples/subsys/instrumentation/src/main.c
@@ -0,0 +1,127 @@
+/*
+ * Copyright 2023 Linaro
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <zephyr/kernel.h>
+#include <zephyr/instrumentation/instrumentation.h>
+
+/*
+ * This sample shows the instrumentation subsystem tracing and profiling
+ * features. It basically consists in two threads in a ping-pong mode, taking
+ * turns to execute loops that spend some CPU cycles.
+ *
+ * After one flashes this sample to the target, it must be possible to
+ * collect and visualize traces and profiling info using the instrumentation CLI
+ * tool, zaru. Please _note_ that this subsystem uses the retained_mem driver,
+ * hence it's necessary to add the proper devicetree overlay for the target
+ * board (see './boards/b_u585i_iot02a.overlay' in this dir. as a reference).
+ *
+ * Example:
+ *
+ * $ export ZEPHYR_BASE=~/zephyrproject/zephyr
+ *
+ * $ west build -p always -b b_u585i_iot02a samples/subsys/instrumentation -t flash
+ * (wait ~2 seconds so the sample finishes 2 rounds of ping-pong between 'main'
+ * and 'thread_A')
+ *
+ * (check instrumentation status)
+ * $ scripts/zaru.py status
+ *
+ * (set the tracing / profiling location; in this sample the function
+ * 'get_sem_and_exec_function' is the one interesting to allow the observation
+ * of context switches)
+ * $ scripts/zaru.py trace -v -c get_sem_and_exec_function
+ *
+ * (reboot target so tracing/profiling at the location is effective)
+ * $ scripts/zaru.py reboot
+ * (wait ~2 seconds so the sample finishes 2 rounds of ping-pong between 'main'
+ * and 'thread_A')
+ *
+ * (get traces)
+ * $ scripts/zaru.py trace -v
+ *
+ * (.. and get profile)
+ * $ scripts/zaru.py profile -v -n 10
+ *
+ * Or alternatively, export the traces to Perfetto:
+ *
+ * (it's necessary to reboot because 'zaru.py trace' dumped the buffer and it's
+ * now empty)
+ * $ scripts/zaru.py reboot
+ * (wait ~2 seconds so the sample finishes 2 rounds of ping-pong between 'main'
+ * and 'thread_A')
+ *
+ * $ scripts/zaru.py trace -v --perfetto --output perfetto_zephyr.json
+ * (then go to http://perfetto.dev, Trace Viewer, and load perfetto_zephyr.json)
+ *
+ */
+
+#define SLEEPTIME 10
+#define STACKSIZE 1024
+#define PRIORITY  7
+
+void __no_optimization loop_0(void)
+{
+	/* Just loop to spend some cycles */
+	for (int i = 0; i < 1024; i++) {
+		/* Empty */
+	};
+}
+
+void __no_optimization loop_1(void)
+{
+	/* Just loop to spend some cycles */
+	for (int i = 0; i < 1024*512; i++) {
+		/* Empty */
+	};
+}
+
+/*
+ * 'main' thread can take its mutex promptly and run. 'thread_A' needs to wait 'main' give its
+ * (thread_A) mutex to run.
+ */
+K_SEM_DEFINE(main_sem, 1, 1);		/* Initialized as ready to be taken */
+K_SEM_DEFINE(thread_a_sem, 0, 1);	/* Initialized as already taken (blocked) */
+
+K_THREAD_STACK_DEFINE(thread_a_stack, STACKSIZE);
+static struct k_thread thread_a_data;
+
+static int counter;
+
+void get_sem_and_exec_function(struct k_sem *my_sem, struct k_sem *other_sem, void (*func)(void))
+{
+	while (counter < 4) {
+		k_sem_take(my_sem, K_FOREVER);
+
+		func();
+		k_msleep(SLEEPTIME);
+
+		counter++;
+		k_sem_give(other_sem);
+	}
+}
+
+void thread_A(void *notused0, void *notused1, void *notused2)
+{
+	ARG_UNUSED(notused0);
+	ARG_UNUSED(notused1);
+	ARG_UNUSED(notused2);
+
+	get_sem_and_exec_function(&thread_a_sem, &main_sem, loop_0);
+}
+
+int main(void)
+{
+	k_tid_t thread_a;
+
+	/* Create Thread A */
+	thread_a = k_thread_create(&thread_a_data, thread_a_stack, STACKSIZE, thread_A, NULL, NULL,
+			NULL, PRIORITY, 0, K_NO_WAIT);
+
+	k_thread_name_set(thread_a, "thread_A");
+
+	/* Start ping-pong between 'main' and 'thread_A' */
+	get_sem_and_exec_function(&main_sem, &thread_a_sem, loop_1);
+}