diff --git a/components/driver/i2c/i2c_common.c b/components/driver/i2c/i2c_common.c
index 70a3f82414..5fa6ecb731 100644
--- a/components/driver/i2c/i2c_common.c
+++ b/components/driver/i2c/i2c_common.c
@@ -80,7 +80,7 @@ static esp_err_t s_i2c_bus_handle_aquire(i2c_port_num_t port_num, i2c_bus_handle
     return ret;
 }
 
-static bool i2c_bus_occupied(i2c_port_num_t port_num)
+bool i2c_bus_occupied(i2c_port_num_t port_num)
 {
     return s_i2c_platform.buses[port_num] != NULL;
 }
diff --git a/components/driver/i2c/i2c_master.c b/components/driver/i2c/i2c_master.c
index c327d703b0..32f062d983 100644
--- a/components/driver/i2c/i2c_master.c
+++ b/components/driver/i2c/i2c_master.c
@@ -41,6 +41,14 @@ static const char *TAG = "i2c.master";
 #define I2C_ADDRESS_TRANS_READ(device_address)    (((device_address) << 1) | 1)
 
 #define I2C_CLR_BUS_TIMEOUT_MS        (50)  // 50ms is sufficient for clearing the bus
+// Use the platform to same master bus handle
+typedef struct i2c_master_bus_platform_t i2c_master_bus_platform_t;
+
+struct i2c_master_bus_platform_t {
+    i2c_master_bus_handle_t handle[SOC_I2C_NUM];
+};
+
+static i2c_master_bus_platform_t s_platform;
 
 static esp_err_t s_i2c_master_clear_bus(i2c_bus_handle_t handle)
 {
@@ -978,6 +986,7 @@ esp_err_t i2c_new_master_bus(const i2c_master_bus_config_t *bus_config, i2c_mast
     xSemaphoreGive(i2c_master->cmd_semphr);
 
     *ret_bus_handle = i2c_master;
+    s_platform.handle[i2c_port_num] = i2c_master;
     return ESP_OK;
 
 err:
@@ -1064,6 +1073,17 @@ esp_err_t i2c_master_bus_reset(i2c_master_bus_handle_t bus_handle)
     return ESP_OK;
 }
 
+esp_err_t i2c_master_get_bus_handle(i2c_port_num_t port_num, i2c_master_bus_handle_t *ret_handle)
+{
+    ESP_RETURN_ON_FALSE((port_num < SOC_I2C_NUM), ESP_ERR_INVALID_ARG, TAG, "invalid i2c port number");
+    if (i2c_bus_occupied(port_num) == false) {
+        ESP_LOGE(TAG, "this port has not been initialized, please initialize it first");
+        return ESP_ERR_INVALID_STATE;
+    } else {
+        *ret_handle = s_platform.handle[port_num];
+    }
+    return ESP_OK;
+}
 
 esp_err_t i2c_master_transmit(i2c_master_dev_handle_t i2c_dev, const uint8_t *write_buffer, size_t write_size, int xfer_timeout_ms)
 {
diff --git a/components/driver/i2c/i2c_private.h b/components/driver/i2c/i2c_private.h
index 38776d3b9a..00bb86e9c7 100644
--- a/components/driver/i2c/i2c_private.h
+++ b/components/driver/i2c/i2c_private.h
@@ -246,6 +246,14 @@ esp_err_t i2c_select_periph_clock(i2c_bus_handle_t handle, i2c_clock_source_t cl
  */
 esp_err_t i2c_common_set_pins(i2c_bus_handle_t handle);
 
+/**
+ * @brief Check whether bus is acquired
+ *
+ * @param port_num number of port
+ * @return true if the bus is occupied, false if the bus is not occupied.
+*/
+bool i2c_bus_occupied(i2c_port_num_t port_num);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/driver/i2c/include/driver/i2c_master.h b/components/driver/i2c/include/driver/i2c_master.h
index cdbc564436..de210e8245 100644
--- a/components/driver/i2c/include/driver/i2c_master.h
+++ b/components/driver/i2c/include/driver/i2c_master.h
@@ -226,6 +226,22 @@ esp_err_t i2c_master_bus_reset(i2c_master_bus_handle_t bus_handle);
  */
 esp_err_t i2c_master_bus_wait_all_done(i2c_master_bus_handle_t bus_handle, int timeout_ms);
 
+/**
+ * @brief Retrieves the I2C master bus handle for a specified I2C port number.
+ *
+ * This function retrieves the I2C master bus handle for the
+ * given I2C port number. Please make sure the handle has already been initialized, and this
+ * function would simply returns the existing handle. Note that the returned handle still can't be used concurrently
+ *
+ * @param port_num I2C port number for which the handle is to be retrieved.
+ * @param ret_handle Pointer to a variable where the retrieved handle will be stored.
+ * @return
+ *     - ESP_OK: Success. The handle is retrieved successfully.
+ *     - ESP_ERR_INVALID_ARG: Invalid argument, such as invalid port number
+ *     - ESP_ERR_INVALID_STATE: Invalid state, such as the I2C port is not initialized.
+ */
+esp_err_t i2c_master_get_bus_handle(i2c_port_num_t port_num, i2c_master_bus_handle_t *ret_handle);
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c b/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c
index 53ad7f4326..91558abeab 100644
--- a/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c
+++ b/components/driver/test_apps/i2c_test_apps/main/test_i2c_common.c
@@ -345,3 +345,19 @@ TEST_CASE("I2C master transaction receive check nack return value", "[i2c]")
     TEST_ESP_ERR(ESP_ERR_INVALID_STATE, i2c_master_receive(dev_handle, data_rd, DATA_LENGTH, -1));
     _test_i2c_del_bus_device(bus_handle, dev_handle);
 }
+
+TEST_CASE("Test get handle with known port", "[i2c]")
+{
+    i2c_master_bus_handle_t handle;
+    TEST_ESP_ERR(ESP_ERR_INVALID_ARG, i2c_master_get_bus_handle(10, &handle));
+    TEST_ESP_ERR(ESP_ERR_INVALID_STATE, i2c_master_get_bus_handle(0, &handle));
+
+    i2c_master_bus_handle_t bus_handle;
+    i2c_master_dev_handle_t dev_handle;
+    _test_i2c_new_bus_device(&bus_handle, &dev_handle);
+    TEST_ESP_OK(i2c_master_get_bus_handle(0, &handle));
+
+    // Check the handle retrieved is as same as original handle
+    TEST_ASSERT((uint32_t)bus_handle == (uint32_t)handle);
+    _test_i2c_del_bus_device(bus_handle, dev_handle);
+}
diff --git a/docs/en/api-reference/peripherals/i2c.rst b/docs/en/api-reference/peripherals/i2c.rst
index 519135740e..6a7d69fc52 100644
--- a/docs/en/api-reference/peripherals/i2c.rst
+++ b/docs/en/api-reference/peripherals/i2c.rst
@@ -134,6 +134,26 @@ Once the :cpp:type:`i2c_device_config_t` structure is populated with mandatory p
     i2c_master_dev_handle_t dev_handle;
     ESP_ERROR_CHECK(i2c_master_bus_add_device(bus_handle, &dev_cfg, &dev_handle));
 
+Get I2C master handle via port
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Given that i2c master handle has been initialized in some module(e.g. an audio module), an another module(e.g. a video module) is not convenient to reused the handle. We have a helper function, :cpp:func:`i2c_master_get_bus_handle` for getting the initialized handle via port. However, please make sure the handle has already been initialized ahead of time. Otherwise an error would be reported.
+
+.. code:: c
+
+    // Source File 1
+    #include "driver/i2c_master.h"
+    i2c_master_bus_handle_t bus_handle;
+    i2c_master_bus_config_t i2c_mst_config = {
+        ... // same as others
+    };
+    ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_mst_config, &bus_handle));
+
+    // Source File 2
+    #include "driver/i2c_master.h"
+    i2c_master_bus_handle_t handle;
+    ESP_ERROR_CHECK(i2c_master_get_bus_handle(0, &handle));
+
 Uninstall I2C master bus and device
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~