diff --git a/tools/test_apps/system/.build-test-rules.yml b/tools/test_apps/system/.build-test-rules.yml
index 54df7b5182..c52bbe3cdd 100644
--- a/tools/test_apps/system/.build-test-rules.yml
+++ b/tools/test_apps/system/.build-test-rules.yml
@@ -47,12 +47,9 @@ tools/test_apps/system/g1_components:
 
 tools/test_apps/system/gdb:
   disable_test:
-    - if: IDF_TARGET == "esp32p4"
+    - if: IDF_TARGET in ["esp32s3", "esp32c2", "esp32c3", "esp32c5", "esp32c61", "esp32p4"]
       temporary: true
       reason: lack of runners
-    - if: IDF_TARGET in ["esp32c5", "esp32c61"]
-      temporary: true
-      reason: not supported yet # TODO: IDF-13142
 
 tools/test_apps/system/gdb_loadable_elf:
   disable_test:
diff --git a/tools/test_apps/system/gdb/pytest_gdb.py b/tools/test_apps/system/gdb/pytest_gdb.py
index 93f627cc4d..18b4ac573c 100644
--- a/tools/test_apps/system/gdb/pytest_gdb.py
+++ b/tools/test_apps/system/gdb/pytest_gdb.py
@@ -1,19 +1,72 @@
 # SPDX-FileCopyrightText: 2022-2025 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: Unlicense OR CC0-1.0
+import json
+import logging
 import os
 import re
-import typing
+import subprocess
+import time
+from subprocess import Popen
+from typing import Optional
 
 import pexpect
 import pytest
 from pytest_embedded_idf import IdfDut
 from pytest_embedded_idf.utils import idf_parametrize
 
-if typing.TYPE_CHECKING:
-    from conftest import OpenOCD
+MAX_RETRIES = 3
+RETRY_DELAY = 3  # seconds
 
 
-def _test_idf_gdb(openocd: 'OpenOCD', dut: IdfDut) -> None:
+def run_openocd(dut: IdfDut) -> Optional[Popen]:
+    desc_path = os.path.join(dut.app.binary_path, 'project_description.json')
+    try:
+        with open(desc_path, 'r') as f:
+            project_desc = json.load(f)
+    except FileNotFoundError:
+        logging.error('Project description file not found at %s', desc_path)
+        return None
+
+    openocd_scripts = os.getenv('OPENOCD_SCRIPTS')
+    if not openocd_scripts:
+        logging.error('OPENOCD_SCRIPTS environment variable is not set.')
+        return None
+
+    debug_args = project_desc.get('debug_arguments_openocd')
+    if not debug_args:
+        logging.error("'debug_arguments_openocd' key is missing in project_description.json")
+        return None
+
+    cmd = ['openocd'] + ['-s', openocd_scripts] + debug_args.split()
+
+    # For debug purpose, make the value '4'
+    ocd_env = os.environ.copy()
+    ocd_env['LIBUSB_DEBUG'] = '1'
+
+    for attempt in range(1, MAX_RETRIES + 1):
+        logging.info('Attempt %d: Running %s', attempt, cmd)
+        with open(os.path.join(dut.logdir, 'ocd.txt'), 'w') as ocd_log:
+            try:
+                ocd = subprocess.Popen(cmd, stdout=ocd_log, stderr=ocd_log, env=ocd_env)
+                time.sleep(1)
+
+                # Check if the process is running successfully
+                if ocd.poll() is None:
+                    return ocd
+                else:
+                    logging.error('OpenOCD exited with error code %d', ocd.returncode)
+            except subprocess.SubprocessError as e:
+                logging.error('Error running OpenOCD: %s', e)
+
+        logging.warning("OpenOCD couldn't be run. Retrying in %d seconds...", RETRY_DELAY)
+        time.sleep(RETRY_DELAY)
+
+    logging.error('Failed to run OpenOCD after %d attempts.', MAX_RETRIES)
+
+    return None
+
+
+def _test_idf_gdb(dut: IdfDut) -> None:
     # Need to wait a moment to connect via OpenOCD after the hard reset happened.
     # Along with this check that app runs ok
     dut.expect('Hello world!')
@@ -21,27 +74,36 @@ def _test_idf_gdb(openocd: 'OpenOCD', dut: IdfDut) -> None:
     # Don't need to have output from UART anymore
     dut.serial.stop_redirect_thread()
 
-    with openocd.run(), open(os.path.join(dut.logdir, 'gdb.txt'), 'w') as gdb_log, pexpect.spawn(
-        f'idf.py -B {dut.app.binary_path} gdb --batch',
-        timeout=60,
-        logfile=gdb_log,
-        encoding='utf-8',
-        codec_errors='ignore',
-    ) as p:
-        p.expect(re.compile(r'add symbol table from file.*bootloader.elf'))
-        p.expect(
-            re.compile(r'add symbol table from file.*rom.elf')
-        )  # if fail here: add target support here https://github.com/espressif/esp-rom-elfs
-        p.expect_exact('hit Temporary breakpoint 1, app_main ()')
+    ocd = run_openocd(dut)
+    assert ocd
+
+    try:
+        with open(os.path.join(dut.logdir, 'gdb.txt'), 'w') as gdb_log, pexpect.spawn(
+            f'idf.py -B {dut.app.binary_path} gdb --batch',
+            timeout=60,
+            logfile=gdb_log,
+            encoding='utf-8',
+            codec_errors='ignore',
+        ) as p:
+            p.expect(re.compile(r'add symbol table from file.*bootloader.elf'))
+            p.expect(
+                re.compile(r'add symbol table from file.*rom.elf')
+            )  # if fail here: add target support here https://github.com/espressif/esp-rom-elfs
+            p.expect_exact('hit Temporary breakpoint 1, app_main ()')
+    finally:
+        # Check if the process is still running
+        if ocd.poll() is None:
+            ocd.terminate()
+            ocd.kill()
 
 
 @pytest.mark.jtag
-@idf_parametrize('target', ['esp32', 'esp32c2', 'esp32s2'], indirect=['target'])
-def test_idf_gdb(openocd: 'OpenOCD', dut: IdfDut) -> None:
-    _test_idf_gdb(openocd, dut)
+@idf_parametrize('target', ['esp32', 'esp32s2'], indirect=['target'])
+def test_idf_gdb(dut: IdfDut) -> None:
+    _test_idf_gdb(dut)
 
 
 @pytest.mark.usb_serial_jtag
-@idf_parametrize('target', ['esp32s3', 'esp32c3', 'esp32c6', 'esp32h2'], indirect=['target'])
-def test_idf_gdb_usj(openocd: 'OpenOCD', dut: IdfDut) -> None:
-    _test_idf_gdb(openocd, dut)
+@idf_parametrize('target', ['esp32c6', 'esp32h2'], indirect=['target'])
+def test_idf_gdb_usj(dut: IdfDut) -> None:
+    _test_idf_gdb(dut)