diff --git a/components/script/dom/mod.rs b/components/script/dom/mod.rs
index 7365fe36a18..a0f6241d55e 100644
--- a/components/script/dom/mod.rs
+++ b/components/script/dom/mod.rs
@@ -579,6 +579,7 @@ pub mod xrinputsource;
 pub mod xrinputsourcearray;
 pub mod xrinputsourceevent;
 pub mod xrinputsourceschangeevent;
+pub mod xrjointpose;
 pub mod xrjointspace;
 pub mod xrlayer;
 pub mod xrmediabinding;
diff --git a/components/script/dom/webidls/XRFrame.webidl b/components/script/dom/webidls/XRFrame.webidl
index 3c202d5e061..e7a4eef1ddd 100644
--- a/components/script/dom/webidls/XRFrame.webidl
+++ b/components/script/dom/webidls/XRFrame.webidl
@@ -10,5 +10,6 @@ interface XRFrame {
 
   [Throws] XRViewerPose? getViewerPose(XRReferenceSpace referenceSpace);
   [Throws] XRPose? getPose(XRSpace space, XRSpace relativeTo);
+  [Pref="dom.webxr.hands.enabled", Throws] XRJointPose? getJointPose(XRJointSpace space, XRSpace relativeTo);
   sequence<XRHitTestResult> getHitTestResults(XRHitTestSource hitTestSource);
 };
diff --git a/components/script/dom/webidls/XRJointPose.webidl b/components/script/dom/webidls/XRJointPose.webidl
new file mode 100644
index 00000000000..70750b66cc4
--- /dev/null
+++ b/components/script/dom/webidls/XRJointPose.webidl
@@ -0,0 +1,10 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+
+// https://github.com/immersive-web/webxr-hands-input/blob/master/explainer.md
+
+[SecureContext, Exposed=Window, Pref="dom.webxr.hands.enabled"]
+interface XRJointPose: XRPose {
+    readonly attribute float? radius;
+};
diff --git a/components/script/dom/xrframe.rs b/components/script/dom/xrframe.rs
index fdafd932e8a..1526a1c387c 100644
--- a/components/script/dom/xrframe.rs
+++ b/components/script/dom/xrframe.rs
@@ -10,6 +10,8 @@ use crate::dom::bindings::root::{Dom, DomRoot};
 use crate::dom::globalscope::GlobalScope;
 use crate::dom::xrhittestresult::XRHitTestResult;
 use crate::dom::xrhittestsource::XRHitTestSource;
+use crate::dom::xrjointpose::XRJointPose;
+use crate::dom::xrjointspace::XRJointSpace;
 use crate::dom::xrpose::XRPose;
 use crate::dom::xrreferencespace::XRReferenceSpace;
 use crate::dom::xrsession::{ApiPose, XRSession};
@@ -112,6 +114,38 @@ impl XRFrameMethods for XRFrame {
         Ok(Some(XRPose::new(&self.global(), pose)))
     }
 
+    /// https://immersive-web.github.io/webxr/#dom-xrframe-getpose
+    fn GetJointPose(
+        &self,
+        space: &XRJointSpace,
+        relative_to: &XRSpace,
+    ) -> Result<Option<DomRoot<XRJointPose>>, Error> {
+        if self.session != space.upcast::<XRSpace>().session() ||
+            self.session != relative_to.session()
+        {
+            return Err(Error::InvalidState);
+        }
+        if !self.active.get() {
+            return Err(Error::InvalidState);
+        }
+        let joint_frame = if let Some(frame) = space.frame(&self.data) {
+            frame
+        } else {
+            return Ok(None);
+        };
+        let relative_to = if let Some(r) = self.get_pose(relative_to) {
+            r
+        } else {
+            return Ok(None);
+        };
+        let pose = relative_to.inverse().pre_transform(&joint_frame.pose);
+        Ok(Some(XRJointPose::new(
+            &self.global(),
+            pose.cast_unit(),
+            Some(joint_frame.radius),
+        )))
+    }
+
     /// https://immersive-web.github.io/hit-test/#dom-xrframe-gethittestresults
     fn GetHitTestResults(&self, source: &XRHitTestSource) -> Vec<DomRoot<XRHitTestResult>> {
         self.data
diff --git a/components/script/dom/xrjointpose.rs b/components/script/dom/xrjointpose.rs
new file mode 100644
index 00000000000..c4b610b3327
--- /dev/null
+++ b/components/script/dom/xrjointpose.rs
@@ -0,0 +1,48 @@
+/* This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at https://mozilla.org/MPL/2.0/. */
+
+use crate::dom::bindings::codegen::Bindings::XRJointPoseBinding::XRJointPoseMethods;
+use crate::dom::bindings::num::Finite;
+use crate::dom::bindings::reflector::reflect_dom_object;
+use crate::dom::bindings::root::DomRoot;
+use crate::dom::globalscope::GlobalScope;
+use crate::dom::xrpose::XRPose;
+use crate::dom::xrrigidtransform::XRRigidTransform;
+use crate::dom::xrsession::ApiRigidTransform;
+use dom_struct::dom_struct;
+
+#[dom_struct]
+pub struct XRJointPose {
+    pose: XRPose,
+    radius: Option<f32>,
+}
+
+impl XRJointPose {
+    fn new_inherited(transform: &XRRigidTransform, radius: Option<f32>) -> XRJointPose {
+        XRJointPose {
+            pose: XRPose::new_inherited(transform),
+            radius,
+        }
+    }
+
+    #[allow(unsafe_code)]
+    pub fn new(
+        global: &GlobalScope,
+        pose: ApiRigidTransform,
+        radius: Option<f32>,
+    ) -> DomRoot<XRJointPose> {
+        let transform = XRRigidTransform::new(global, pose);
+        reflect_dom_object(
+            Box::new(XRJointPose::new_inherited(&transform, radius)),
+            global,
+        )
+    }
+}
+
+impl XRJointPoseMethods for XRJointPose {
+    /// https://immersive-web.github.io/webxr/#dom-XRJointPose-views
+    fn GetRadius(&self) -> Option<Finite<f32>> {
+        self.radius.map(Finite::wrap)
+    }
+}