diff --git a/litex/soc/tools/vexriscv_debug.py b/litex/soc/tools/vexriscv_debug.py
new file mode 100644
index 000000000..cb5038330
--- /dev/null
+++ b/litex/soc/tools/vexriscv_debug.py
@@ -0,0 +1,108 @@
+#!/usr/bin/env python3
+
+import sys
+import os
+import time
+import threading
+import argparse
+import socket
+import struct
+from litex.soc.tools.remote import RemoteClient
+
+class ConnectionClosed(Exception):
+    pass
+
+# struct vexriscv_req {
+#	uint8_t readwrite;
+#	uint8_t size;
+#	uint32_t address;
+#	uint32_t data;
+#} __attribute__((packed));
+class VexRiscvDebugPacket():
+    def __init__(self, data):
+        self.is_write, self.size, self.address, self.value = struct.unpack("=?BII", data)
+
+class VexRiscvDebugBridge():
+    def __init__(self):
+        self._get_args()
+
+    def open(self):
+        if not hasattr(self, "debugger_socket"):
+            self.debugger_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+            self.debugger_socket.bind(('',7893))
+            self.debugger_socket.listen(0)
+
+        if not hasattr(self, "rc"):
+            self.rc = RemoteClient(csr_csv=self.args.csr)
+            self.rc.open()
+            self.core_addr = self.rc.regs.cpu_or_bridge_debug_core.addr
+            self.data_addr = self.rc.regs.cpu_or_bridge_debug_data.addr
+            self.refresh_addr = self.rc.regs.cpu_or_bridge_debug_refresh.addr
+
+    def _get_args(self):
+        parser = argparse.ArgumentParser()
+        parser.add_argument("--csr", default="test/csr.csv", help="csr mapping file")
+        self.args = parser.parse_args()
+
+    def accept(self):
+        if hasattr(self, "debugger"):
+            return
+        print("Waiting for connection from debugger...")
+        self.debugger, address = self.debugger_socket.accept()
+        print("Accepted debugger connection from {}".format(address[0]))
+
+    def _refresh_reg(self, reg):
+        self.rc.write(self.refresh_addr, reg)
+
+    def read_core(self):
+        self._refresh_reg(0)
+        self.write_to_debugger(self.rc.read(self.core_addr))
+
+    def read_data(self):
+        self._refresh_reg(4)
+        self.write_to_debugger(self.rc.read(self.data_addr))
+
+    def write_core(self, value):
+        self.rc.write(self.core_addr, value)
+
+    def write_data(self, value):
+        self.rc.write(self.data_addr, value)
+
+    def read_from_debugger(self):
+        data = self.debugger.recv(10)
+        if len(data) != 10:
+            self.debugger.close()
+            del self.debugger
+            raise ConnectionClosed()
+        return VexRiscvDebugPacket(data)
+
+    def write_to_debugger(self, data):
+        self.debugger.send(struct.pack("=I", data))
+
+def main():
+    vrvb = VexRiscvDebugBridge()
+    vrvb.open()
+
+    while True:
+        vrvb.accept()
+        try:
+            pkt = vrvb.read_from_debugger()
+            if pkt.is_write == True:
+                if pkt.address == 0xf00f0000:
+                    vrvb.write_core(pkt.value)
+                elif pkt.address == 0xf00f0004:
+                    vrvb.write_data(pkt.value)
+                else:
+                    raise "Unrecognized address"
+            else:
+                if pkt.address == 0xf00f0000:
+                    vrvb.read_core()
+                elif pkt.address == 0xf00f0004:
+                    vrvb.read_data()
+                else:
+                    raise "Unrecognized address"
+        except ConnectionClosed:
+            print("Debugger connection closed")
+
+if __name__ == "__main__":
+    main()
diff --git a/setup.py b/setup.py
index bd78a9db9..30a2e42f6 100755
--- a/setup.py
+++ b/setup.py
@@ -38,7 +38,8 @@ setup(
         "console_scripts": [
             "litex_term=litex.soc.tools.litex_term:main",
             "mkmscimg=litex.soc.tools.mkmscimg:main",
-            "litex_server=litex.soc.tools.remote.litex_server:main"
+            "litex_server=litex.soc.tools.remote.litex_server:main",
+            "vexriscv_bridge=litex.soc.tools.vexriscv_debug:main"
         ],
     },
 )