diff --git a/include/linux/bpf.h b/include/linux/bpf.h
index 39bd36359c1e..dc9bf5e95ebf 100644
--- a/include/linux/bpf.h
+++ b/include/linux/bpf.h
@@ -48,6 +48,7 @@ struct mem_cgroup;
 struct module;
 struct bpf_func_state;
 struct ftrace_ops;
+struct cgroup;
 
 extern struct idr btf_idr;
 extern spinlock_t btf_idr_lock;
@@ -1730,7 +1731,14 @@ int bpf_obj_get_user(const char __user *pathname, int flags);
 	int __init bpf_iter_ ## target(args) { return 0; }
 
 struct bpf_iter_aux_info {
+	/* for map_elem iter */
 	struct bpf_map *map;
+
+	/* for cgroup iter */
+	struct {
+		struct cgroup *start; /* starting cgroup */
+		enum bpf_cgroup_iter_order order;
+	} cgroup;
 };
 
 typedef int (*bpf_iter_attach_target_t)(struct bpf_prog *prog,
diff --git a/include/uapi/linux/bpf.h b/include/uapi/linux/bpf.h
index 934a2a8beb87..1c4e1c583880 100644
--- a/include/uapi/linux/bpf.h
+++ b/include/uapi/linux/bpf.h
@@ -87,10 +87,29 @@ struct bpf_cgroup_storage_key {
 	__u32	attach_type;		/* program attach type (enum bpf_attach_type) */
 };
 
+enum bpf_cgroup_iter_order {
+	BPF_ITER_ORDER_UNSPEC = 0,
+	BPF_ITER_SELF_ONLY,		/* process only a single object. */
+	BPF_ITER_DESCENDANTS_PRE,	/* walk descendants in pre-order. */
+	BPF_ITER_DESCENDANTS_POST,	/* walk descendants in post-order. */
+	BPF_ITER_ANCESTORS_UP,		/* walk ancestors upward. */
+};
+
 union bpf_iter_link_info {
 	struct {
 		__u32	map_fd;
 	} map;
+	struct {
+		enum bpf_cgroup_iter_order order;
+
+		/* At most one of cgroup_fd and cgroup_id can be non-zero. If
+		 * both are zero, the walk starts from the default cgroup v2
+		 * root. For walking v1 hierarchy, one should always explicitly
+		 * specify cgroup_fd.
+		 */
+		__u32	cgroup_fd;
+		__u64	cgroup_id;
+	} cgroup;
 };
 
 /* BPF syscall commands, see bpf(2) man-page for more details. */
@@ -6159,11 +6178,22 @@ struct bpf_link_info {
 		struct {
 			__aligned_u64 target_name; /* in/out: target_name buffer ptr */
 			__u32 target_name_len;	   /* in/out: target_name buffer len */
+
+			/* If the iter specific field is 32 bits, it can be put
+			 * in the first or second union. Otherwise it should be
+			 * put in the second union.
+			 */
 			union {
 				struct {
 					__u32 map_id;
 				} map;
 			};
+			union {
+				struct {
+					__u64 cgroup_id;
+					__u32 order;
+				} cgroup;
+			};
 		} iter;
 		struct  {
 			__u32 netns_ino;
diff --git a/kernel/bpf/Makefile b/kernel/bpf/Makefile
index 057ba8e01e70..00e05b69a4df 100644
--- a/kernel/bpf/Makefile
+++ b/kernel/bpf/Makefile
@@ -24,6 +24,9 @@ endif
 ifeq ($(CONFIG_PERF_EVENTS),y)
 obj-$(CONFIG_BPF_SYSCALL) += stackmap.o
 endif
+ifeq ($(CONFIG_CGROUPS),y)
+obj-$(CONFIG_BPF_SYSCALL) += cgroup_iter.o
+endif
 obj-$(CONFIG_CGROUP_BPF) += cgroup.o
 ifeq ($(CONFIG_INET),y)
 obj-$(CONFIG_BPF_SYSCALL) += reuseport_array.o
diff --git a/kernel/bpf/cgroup_iter.c b/kernel/bpf/cgroup_iter.c
new file mode 100644
index 000000000000..cf6d763a57d5
--- /dev/null
+++ b/kernel/bpf/cgroup_iter.c
@@ -0,0 +1,284 @@
+// SPDX-License-Identifier: GPL-2.0-only
+/* Copyright (c) 2022 Google */
+#include <linux/bpf.h>
+#include <linux/btf_ids.h>
+#include <linux/cgroup.h>
+#include <linux/kernel.h>
+#include <linux/seq_file.h>
+
+#include "../cgroup/cgroup-internal.h"  /* cgroup_mutex and cgroup_is_dead */
+
+/* cgroup_iter provides four modes of traversal to the cgroup hierarchy.
+ *
+ *  1. Walk the descendants of a cgroup in pre-order.
+ *  2. Walk the descendants of a cgroup in post-order.
+ *  3. Walk the ancestors of a cgroup.
+ *  4. Show the given cgroup only.
+ *
+ * For walking descendants, cgroup_iter can walk in either pre-order or
+ * post-order. For walking ancestors, the iter walks up from a cgroup to
+ * the root.
+ *
+ * The iter program can terminate the walk early by returning 1. Walk
+ * continues if prog returns 0.
+ *
+ * The prog can check (seq->num == 0) to determine whether this is
+ * the first element. The prog may also be passed a NULL cgroup,
+ * which means the walk has completed and the prog has a chance to
+ * do post-processing, such as outputting an epilogue.
+ *
+ * Note: the iter_prog is called with cgroup_mutex held.
+ *
+ * Currently only one session is supported, which means, depending on the
+ * volume of data bpf program intends to send to user space, the number
+ * of cgroups that can be walked is limited. For example, given the current
+ * buffer size is 8 * PAGE_SIZE, if the program sends 64B data for each
+ * cgroup, assuming PAGE_SIZE is 4kb, the total number of cgroups that can
+ * be walked is 512. This is a limitation of cgroup_iter. If the output data
+ * is larger than the kernel buffer size, after all data in the kernel buffer
+ * is consumed by user space, the subsequent read() syscall will signal
+ * EOPNOTSUPP. In order to work around, the user may have to update their
+ * program to reduce the volume of data sent to output. For example, skip
+ * some uninteresting cgroups.
+ */
+
+struct bpf_iter__cgroup {
+	__bpf_md_ptr(struct bpf_iter_meta *, meta);
+	__bpf_md_ptr(struct cgroup *, cgroup);
+};
+
+struct cgroup_iter_priv {
+	struct cgroup_subsys_state *start_css;
+	bool visited_all;
+	bool terminate;
+	int order;
+};
+
+static void *cgroup_iter_seq_start(struct seq_file *seq, loff_t *pos)
+{
+	struct cgroup_iter_priv *p = seq->private;
+
+	mutex_lock(&cgroup_mutex);
+
+	/* cgroup_iter doesn't support read across multiple sessions. */
+	if (*pos > 0) {
+		if (p->visited_all)
+			return NULL;
+
+		/* Haven't visited all, but because cgroup_mutex has dropped,
+		 * return -EOPNOTSUPP to indicate incomplete iteration.
+		 */
+		return ERR_PTR(-EOPNOTSUPP);
+	}
+
+	++*pos;
+	p->terminate = false;
+	p->visited_all = false;
+	if (p->order == BPF_ITER_DESCENDANTS_PRE)
+		return css_next_descendant_pre(NULL, p->start_css);
+	else if (p->order == BPF_ITER_DESCENDANTS_POST)
+		return css_next_descendant_post(NULL, p->start_css);
+	else if (p->order == BPF_ITER_ANCESTORS_UP)
+		return p->start_css;
+	else /* BPF_ITER_SELF_ONLY */
+		return p->start_css;
+}
+
+static int __cgroup_iter_seq_show(struct seq_file *seq,
+				  struct cgroup_subsys_state *css, int in_stop);
+
+static void cgroup_iter_seq_stop(struct seq_file *seq, void *v)
+{
+	struct cgroup_iter_priv *p = seq->private;
+
+	mutex_unlock(&cgroup_mutex);
+
+	/* pass NULL to the prog for post-processing */
+	if (!v) {
+		__cgroup_iter_seq_show(seq, NULL, true);
+		p->visited_all = true;
+	}
+}
+
+static void *cgroup_iter_seq_next(struct seq_file *seq, void *v, loff_t *pos)
+{
+	struct cgroup_subsys_state *curr = (struct cgroup_subsys_state *)v;
+	struct cgroup_iter_priv *p = seq->private;
+
+	++*pos;
+	if (p->terminate)
+		return NULL;
+
+	if (p->order == BPF_ITER_DESCENDANTS_PRE)
+		return css_next_descendant_pre(curr, p->start_css);
+	else if (p->order == BPF_ITER_DESCENDANTS_POST)
+		return css_next_descendant_post(curr, p->start_css);
+	else if (p->order == BPF_ITER_ANCESTORS_UP)
+		return curr->parent;
+	else  /* BPF_ITER_SELF_ONLY */
+		return NULL;
+}
+
+static int __cgroup_iter_seq_show(struct seq_file *seq,
+				  struct cgroup_subsys_state *css, int in_stop)
+{
+	struct cgroup_iter_priv *p = seq->private;
+	struct bpf_iter__cgroup ctx;
+	struct bpf_iter_meta meta;
+	struct bpf_prog *prog;
+	int ret = 0;
+
+	/* cgroup is dead, skip this element */
+	if (css && cgroup_is_dead(css->cgroup))
+		return 0;
+
+	ctx.meta = &meta;
+	ctx.cgroup = css ? css->cgroup : NULL;
+	meta.seq = seq;
+	prog = bpf_iter_get_info(&meta, in_stop);
+	if (prog)
+		ret = bpf_iter_run_prog(prog, &ctx);
+
+	/* if prog returns > 0, terminate after this element. */
+	if (ret != 0)
+		p->terminate = true;
+
+	return 0;
+}
+
+static int cgroup_iter_seq_show(struct seq_file *seq, void *v)
+{
+	return __cgroup_iter_seq_show(seq, (struct cgroup_subsys_state *)v,
+				      false);
+}
+
+static const struct seq_operations cgroup_iter_seq_ops = {
+	.start  = cgroup_iter_seq_start,
+	.next   = cgroup_iter_seq_next,
+	.stop   = cgroup_iter_seq_stop,
+	.show   = cgroup_iter_seq_show,
+};
+
+BTF_ID_LIST_SINGLE(bpf_cgroup_btf_id, struct, cgroup)
+
+static int cgroup_iter_seq_init(void *priv, struct bpf_iter_aux_info *aux)
+{
+	struct cgroup_iter_priv *p = (struct cgroup_iter_priv *)priv;
+	struct cgroup *cgrp = aux->cgroup.start;
+
+	p->start_css = &cgrp->self;
+	p->terminate = false;
+	p->visited_all = false;
+	p->order = aux->cgroup.order;
+	return 0;
+}
+
+static const struct bpf_iter_seq_info cgroup_iter_seq_info = {
+	.seq_ops		= &cgroup_iter_seq_ops,
+	.init_seq_private	= cgroup_iter_seq_init,
+	.seq_priv_size		= sizeof(struct cgroup_iter_priv),
+};
+
+static int bpf_iter_attach_cgroup(struct bpf_prog *prog,
+				  union bpf_iter_link_info *linfo,
+				  struct bpf_iter_aux_info *aux)
+{
+	int fd = linfo->cgroup.cgroup_fd;
+	u64 id = linfo->cgroup.cgroup_id;
+	int order = linfo->cgroup.order;
+	struct cgroup *cgrp;
+
+	if (order != BPF_ITER_DESCENDANTS_PRE &&
+	    order != BPF_ITER_DESCENDANTS_POST &&
+	    order != BPF_ITER_ANCESTORS_UP &&
+	    order != BPF_ITER_SELF_ONLY)
+		return -EINVAL;
+
+	if (fd && id)
+		return -EINVAL;
+
+	if (fd)
+		cgrp = cgroup_get_from_fd(fd);
+	else if (id)
+		cgrp = cgroup_get_from_id(id);
+	else /* walk the entire hierarchy by default. */
+		cgrp = cgroup_get_from_path("/");
+
+	if (IS_ERR(cgrp))
+		return PTR_ERR(cgrp);
+
+	aux->cgroup.start = cgrp;
+	aux->cgroup.order = order;
+	return 0;
+}
+
+static void bpf_iter_detach_cgroup(struct bpf_iter_aux_info *aux)
+{
+	cgroup_put(aux->cgroup.start);
+}
+
+static void bpf_iter_cgroup_show_fdinfo(const struct bpf_iter_aux_info *aux,
+					struct seq_file *seq)
+{
+	char *buf;
+
+	buf = kzalloc(PATH_MAX, GFP_KERNEL);
+	if (!buf) {
+		seq_puts(seq, "cgroup_path:\t<unknown>\n");
+		goto show_order;
+	}
+
+	/* If cgroup_path_ns() fails, buf will be an empty string, cgroup_path
+	 * will print nothing.
+	 *
+	 * Path is in the calling process's cgroup namespace.
+	 */
+	cgroup_path_ns(aux->cgroup.start, buf, PATH_MAX,
+		       current->nsproxy->cgroup_ns);
+	seq_printf(seq, "cgroup_path:\t%s\n", buf);
+	kfree(buf);
+
+show_order:
+	if (aux->cgroup.order == BPF_ITER_DESCENDANTS_PRE)
+		seq_puts(seq, "order: descendants_pre\n");
+	else if (aux->cgroup.order == BPF_ITER_DESCENDANTS_POST)
+		seq_puts(seq, "order: descendants_post\n");
+	else if (aux->cgroup.order == BPF_ITER_ANCESTORS_UP)
+		seq_puts(seq, "order: ancestors_up\n");
+	else /* BPF_ITER_SELF_ONLY */
+		seq_puts(seq, "order: self_only\n");
+}
+
+static int bpf_iter_cgroup_fill_link_info(const struct bpf_iter_aux_info *aux,
+					  struct bpf_link_info *info)
+{
+	info->iter.cgroup.order = aux->cgroup.order;
+	info->iter.cgroup.cgroup_id = cgroup_id(aux->cgroup.start);
+	return 0;
+}
+
+DEFINE_BPF_ITER_FUNC(cgroup, struct bpf_iter_meta *meta,
+		     struct cgroup *cgroup)
+
+static struct bpf_iter_reg bpf_cgroup_reg_info = {
+	.target			= "cgroup",
+	.feature		= BPF_ITER_RESCHED,
+	.attach_target		= bpf_iter_attach_cgroup,
+	.detach_target		= bpf_iter_detach_cgroup,
+	.show_fdinfo		= bpf_iter_cgroup_show_fdinfo,
+	.fill_link_info		= bpf_iter_cgroup_fill_link_info,
+	.ctx_arg_info_size	= 1,
+	.ctx_arg_info		= {
+		{ offsetof(struct bpf_iter__cgroup, cgroup),
+		  PTR_TO_BTF_ID_OR_NULL },
+	},
+	.seq_info		= &cgroup_iter_seq_info,
+};
+
+static int __init bpf_cgroup_iter_init(void)
+{
+	bpf_cgroup_reg_info.ctx_arg_info[0].btf_id = bpf_cgroup_btf_id[0];
+	return bpf_iter_reg_target(&bpf_cgroup_reg_info);
+}
+
+late_initcall(bpf_cgroup_iter_init);
diff --git a/tools/include/uapi/linux/bpf.h b/tools/include/uapi/linux/bpf.h
index 1d6085e15fc8..9696f05bc924 100644
--- a/tools/include/uapi/linux/bpf.h
+++ b/tools/include/uapi/linux/bpf.h
@@ -87,10 +87,29 @@ struct bpf_cgroup_storage_key {
 	__u32	attach_type;		/* program attach type (enum bpf_attach_type) */
 };
 
+enum bpf_cgroup_iter_order {
+	BPF_ITER_ORDER_UNSPEC = 0,
+	BPF_ITER_SELF_ONLY,		/* process only a single object. */
+	BPF_ITER_DESCENDANTS_PRE,	/* walk descendants in pre-order. */
+	BPF_ITER_DESCENDANTS_POST,	/* walk descendants in post-order. */
+	BPF_ITER_ANCESTORS_UP,		/* walk ancestors upward. */
+};
+
 union bpf_iter_link_info {
 	struct {
 		__u32	map_fd;
 	} map;
+	struct {
+		enum bpf_cgroup_iter_order order;
+
+		/* At most one of cgroup_fd and cgroup_id can be non-zero. If
+		 * both are zero, the walk starts from the default cgroup v2
+		 * root. For walking v1 hierarchy, one should always explicitly
+		 * specify cgroup_fd.
+		 */
+		__u32	cgroup_fd;
+		__u64	cgroup_id;
+	} cgroup;
 };
 
 /* BPF syscall commands, see bpf(2) man-page for more details. */
@@ -6159,11 +6178,22 @@ struct bpf_link_info {
 		struct {
 			__aligned_u64 target_name; /* in/out: target_name buffer ptr */
 			__u32 target_name_len;	   /* in/out: target_name buffer len */
+
+			/* If the iter specific field is 32 bits, it can be put
+			 * in the first or second union. Otherwise it should be
+			 * put in the second union.
+			 */
 			union {
 				struct {
 					__u32 map_id;
 				} map;
 			};
+			union {
+				struct {
+					__u64 cgroup_id;
+					__u32 order;
+				} cgroup;
+			};
 		} iter;
 		struct  {
 			__u32 netns_ino;
diff --git a/tools/testing/selftests/bpf/prog_tests/btf_dump.c b/tools/testing/selftests/bpf/prog_tests/btf_dump.c
index 5fce7008d1ff..84c1cfaa2b02 100644
--- a/tools/testing/selftests/bpf/prog_tests/btf_dump.c
+++ b/tools/testing/selftests/bpf/prog_tests/btf_dump.c
@@ -764,8 +764,8 @@ static void test_btf_dump_struct_data(struct btf *btf, struct btf_dump *d,
 
 	/* union with nested struct */
 	TEST_BTF_DUMP_DATA(btf, d, "union", str, union bpf_iter_link_info, BTF_F_COMPACT,
-			   "(union bpf_iter_link_info){.map = (struct){.map_fd = (__u32)1,},}",
-			   { .map = { .map_fd = 1 }});
+			   "(union bpf_iter_link_info){.map = (struct){.map_fd = (__u32)1,},.cgroup = (struct){.order = (__u32)1,.cgroup_fd = (__u32)1,},}",
+			   { .cgroup = { .order = 1, .cgroup_fd = 1, }});
 
 	/* struct skb with nested structs/unions; because type output is so
 	 * complex, we don't do a string comparison, just verify we return
