diff --git a/Source/CMakeLists.txt b/Source/CMakeLists.txt
index 25fda89edf..a4012c98d8 100644
--- a/Source/CMakeLists.txt
+++ b/Source/CMakeLists.txt
@@ -1143,6 +1143,7 @@ add_library(
   CTest/cmCTestCoverageCommand.cxx
   CTest/cmCTestCoverageHandler.cxx
   CTest/cmCTestCurl.cxx
+  CTest/cmCTestDiscoverTests.cxx
   CTest/cmParseMumpsCoverage.cxx
   CTest/cmParseCacheCoverage.cxx
   CTest/cmParseGTMCoverage.cxx
diff --git a/Source/CTest/cmCTestDiscoverTests.cxx b/Source/CTest/cmCTestDiscoverTests.cxx
new file mode 100644
index 0000000000..95a97a130a
--- /dev/null
+++ b/Source/CTest/cmCTestDiscoverTests.cxx
@@ -0,0 +1,163 @@
+/* Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+   file LICENSE.rst or https://cmake.org/licensing for details.  */
+#include "cmCTestDiscoverTests.h"
+
+#include <algorithm>
+#include <cstddef>
+#include <cstdlib>
+#include <iterator>
+#include <string>
+#include <vector>
+
+#include <cmsys/RegularExpression.hxx>
+
+#include "cmArgumentParserTypes.h"
+#include "cmCTestTestHandler.h"
+#include "cmDuration.h"
+#include "cmEnvironment.h"
+#include "cmExecutionStatus.h"
+#include "cmList.h"
+#include "cmProcessOutput.h"
+#include "cmStringAlgorithms.h"
+#include "cmSystemTools.h"
+#include "cmTestDiscovery.h"
+
+namespace {
+
+struct DiscoveryProperties
+{
+  DiscoveryProperties(std::vector<std::string> const& props);
+
+  std::vector<std::string> Environment;
+  std::vector<std::string> EnvironmentModification;
+  cmDuration Timeout = cmDuration(5.0);
+  std::string WorkingDirectory;
+};
+
+DiscoveryProperties::DiscoveryProperties(std::vector<std::string> const& props)
+{
+  for (std::size_t i = 0; i < props.size(); i += 2) {
+    auto const& key = props[i];
+    auto const& val = props[i + 1];
+    if (key == "ENVIRONMENT") {
+      cmExpandList(val, this->Environment);
+    } else if (key == "ENVIRONMENT_MODIFICATION") {
+      cmExpandList(val, this->EnvironmentModification);
+    } else if (key == "TIMEOUT") {
+      this->Timeout = cmDuration(atof(val.c_str()));
+    } else if (key == "WORKING_DIRECTORY") {
+      this->WorkingDirectory = val;
+    }
+  }
+}
+
+std::string AddAnchors(std::string str)
+{
+  if (str.empty() || str.front() != '^') {
+    str.insert(str.begin(), '^');
+  }
+  if (str.size() < 2 || str.back() != '$') {
+    str.push_back('$');
+  }
+  return str;
+}
+
+class RegexReplacer
+{
+public:
+  RegexReplacer(cmsys::RegularExpression& regex)
+    : RegEx(regex)
+  {
+  }
+
+  std::string operator()(std::string str)
+  {
+    for (int i = 0; i <= this->RegEx.num_groups(); ++i) {
+      cmsys::SystemTools::ReplaceString(str, cmStrCat('\\', i),
+                                        this->RegEx.match(i));
+    }
+    return str;
+  }
+
+private:
+  cmsys::RegularExpression& RegEx;
+};
+
+} // namespace
+
+bool cmCTestDiscoverTests(cmTestDiscoveryArgs const& args,
+                          cmCTestTestHandler* handler,
+                          cmExecutionStatus& status)
+{
+  cmsys::RegularExpression re;
+  if (!re.compile(AddAnchors(args.DiscoveryMatch))) {
+    std::string e = "DISCOVERY_MATCH failed to compile regex \"" +
+      args.DiscoveryMatch + "\".";
+    status.SetError(e);
+    return false;
+  }
+
+  auto const props = DiscoveryProperties{ args.DiscoveryProperties };
+
+  auto env = cmEnvironment{ cmSystemTools::GetEnvironmentVariables() };
+  env.Update(props.Environment);
+  if (!props.EnvironmentModification.empty()) {
+    auto diff = cmEnvironmentModification{};
+    if (!diff.Add(props.EnvironmentModification)) {
+      return false;
+    }
+    diff.ApplyTo(env);
+  }
+
+  auto runCommand = std::vector<std::string>(args.Command);
+  runCommand.reserve(runCommand.size() + args.DiscoveryArgs.size());
+  std::copy(args.DiscoveryArgs.begin(), args.DiscoveryArgs.end(),
+            std::back_inserter(runCommand));
+
+  std::string stdOut;
+  std::string stdErr;
+  bool const res = cmSystemTools::RunSingleCommand(
+    runCommand, &stdOut, &stdErr, nullptr, props.WorkingDirectory.c_str(),
+    cmSystemTools::OUTPUT_NONE, props.Timeout, cmProcessOutput::Auto,
+    env.GetVariables());
+  if (!res) {
+    status.SetError(cmStrCat(" failed to run command: ",
+                             cmSystemTools::PrintSingleCommand(runCommand),
+                             "\n", stdErr));
+    return false;
+  }
+
+  auto replace = RegexReplacer{ re };
+
+  std::vector<std::string> lines;
+  cmSystemTools::Split(stdOut, lines);
+  for (auto const& line : lines) {
+    if (!re.find(line)) {
+      continue;
+    }
+
+    auto const testName = replace(args.TestName);
+    auto testArgs = std::vector<std::string>{ testName };
+    testArgs.reserve(1 + args.Command.size() + args.TestArgs.size());
+    std::copy(args.Command.begin(), args.Command.end(),
+              std::back_inserter(testArgs));
+    std::transform(args.TestArgs.begin(), args.TestArgs.end(),
+                   std::back_inserter(testArgs), replace);
+
+    if (!handler->AddTest(testArgs)) {
+      return false;
+    }
+
+    auto testProperties = std::vector<std::string>{ testName, "PROPERTIES" };
+    testProperties.reserve(2 + args.TestProperties.size());
+    for (std::size_t i = 0; i < args.TestProperties.size(); i += 2) {
+      testProperties.push_back(args.TestProperties[i]);
+      testProperties.push_back(replace(args.TestProperties[i + 1]));
+    }
+    if (!handler->SetTestsProperties(testProperties)) {
+      return false;
+    }
+  }
+
+  return true;
+}
diff --git a/Source/CTest/cmCTestDiscoverTests.h b/Source/CTest/cmCTestDiscoverTests.h
new file mode 100644
index 0000000000..8de7d7e85f
--- /dev/null
+++ b/Source/CTest/cmCTestDiscoverTests.h
@@ -0,0 +1,13 @@
+/* Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+   file LICENSE.rst or https://cmake.org/licensing for details.  */
+#pragma once
+
+#include "cmConfigure.h" // IWYU pragma: keep
+
+struct cmTestDiscoveryArgs;
+class cmCTestTestHandler;
+class cmExecutionStatus;
+
+bool cmCTestDiscoverTests(cmTestDiscoveryArgs const& args,
+                          cmCTestTestHandler* handler,
+                          cmExecutionStatus& status);
diff --git a/Source/CTest/cmCTestTestHandler.cxx b/Source/CTest/cmCTestTestHandler.cxx
index f453e4f0b6..d818f4dd6b 100644
--- a/Source/CTest/cmCTestTestHandler.cxx
+++ b/Source/CTest/cmCTestTestHandler.cxx
@@ -15,6 +15,7 @@
 #include <ratio>
 #include <set>
 #include <sstream>
+#include <string>
 #include <utility>
 
 #ifndef _WIN32
@@ -33,7 +34,9 @@
 
 #include "cm_utf8.h"
 
+#include "cmArgumentParser.h"
 #include "cmCTest.h"
+#include "cmCTestDiscoverTests.h"
 #include "cmCTestMultiProcessHandler.h"
 #include "cmCTestResourceGroupsLexerHelper.h"
 #include "cmCTestTestMeasurementXMLParser.h"
@@ -49,6 +52,7 @@
 #include "cmStateSnapshot.h"
 #include "cmStringAlgorithms.h"
 #include "cmSystemTools.h"
+#include "cmTestDiscovery.h"
 #include "cmTimestamp.h"
 #include "cmValue.h"
 #include "cmWorkingDirectory.h"
@@ -184,6 +188,34 @@ bool cmCTestAddTestCommand::InitialPass(std::vector<std::string> const& args,
   return this->TestHandler->AddTest(args);
 }
 
+class cmCTestDiscoverTestsCommand : public cmCTestCommand
+{
+public:
+  using cmCTestCommand::cmCTestCommand;
+  bool InitialPass(std::vector<std::string> const& args,
+                   cmExecutionStatus& status) override;
+};
+
+bool cmCTestDiscoverTestsCommand::InitialPass(
+  std::vector<std::string> const& args, cmExecutionStatus& status)
+{
+  using Arguments = cmTestDiscoveryArgs;
+  static auto const parser = cmTestDiscoveryParser<Arguments>();
+
+  auto unparsed = std::vector<std::string>{};
+  Arguments const arguments = parser.Parse(args, &unparsed);
+  if (arguments.MaybeReportError(status.GetMakefile())) {
+    return true;
+  }
+
+  if (!unparsed.empty()) {
+    status.SetError(" given unknown argument \"" + unparsed.front() + "\".");
+    return false;
+  }
+
+  return cmCTestDiscoverTests(arguments, this->TestHandler, status);
+}
+
 class cmCTestSetTestsPropertiesCommand : public cmCTestCommand
 {
 public:
@@ -1772,6 +1804,10 @@ bool cmCTestTestHandler::GetListOfTests()
   // Add handler for ADD_TEST
   cm.GetState()->AddBuiltinCommand("add_test", cmCTestAddTestCommand(this));
 
+  // Add handler for DISCOVER_TESTS
+  cm.GetState()->AddBuiltinCommand("discover_tests",
+                                   cmCTestDiscoverTestsCommand(this));
+
   // Add handler for SUBDIRS
   cm.GetState()->AddBuiltinCommand("subdirs", cmCTestSubdirCommand);
 
diff --git a/Source/cmTestDiscovery.h b/Source/cmTestDiscovery.h
new file mode 100644
index 0000000000..a8d899ee35
--- /dev/null
+++ b/Source/cmTestDiscovery.h
@@ -0,0 +1,32 @@
+/* Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+   file LICENSE.rst or https://cmake.org/licensing for details.  */
+#pragma once
+
+#include "cmConfigure.h" // IWYU pragma: keep
+
+#include "cmArgumentParser.h"
+
+struct cmTestDiscoveryArgs : ArgumentParser::ParseResult
+{
+  ArgumentParser::NonEmpty<std::vector<std::string>> Command;
+  ArgumentParser::NonEmpty<std::vector<std::string>> DiscoveryArgs;
+  ArgumentParser::NonEmpty<std::string> DiscoveryMatch;
+  ArgumentParser::MaybeEmpty<std::vector<std::string>> DiscoveryProperties;
+  ArgumentParser::NonEmpty<std::string> TestName;
+  ArgumentParser::NonEmpty<std::vector<std::string>> TestArgs;
+  ArgumentParser::MaybeEmpty<std::vector<std::string>> TestProperties;
+};
+
+template <typename Args>
+auto cmTestDiscoveryParser() -> cmArgumentParser<Args>
+{
+  static_assert(std::is_base_of<cmTestDiscoveryArgs, Args>::value, "");
+  return cmArgumentParser<Args>{}
+    .Bind("COMMAND"_s, &Args::Command)
+    .Bind("DISCOVERY_ARGS"_s, &Args::DiscoveryArgs)
+    .Bind("DISCOVERY_MATCH"_s, &Args::DiscoveryMatch)
+    .Bind("DISCOVERY_PROPERTIES"_s, &Args::DiscoveryProperties)
+    .Bind("TEST_NAME"_s, &Args::TestName)
+    .Bind("TEST_ARGS"_s, &Args::TestArgs)
+    .Bind("TEST_PROPERTIES"_s, &Args::TestProperties);
+}