diff --git a/tests/include/test/ssl_helpers.h b/tests/include/test/ssl_helpers.h
index ec08d09cc0..ca43663632 100644
--- a/tests/include/test/ssl_helpers.h
+++ b/tests/include/test/ssl_helpers.h
@@ -450,6 +450,9 @@ int mbedtls_test_ssl_endpoint_certificate_init(mbedtls_test_ssl_endpoint *ep,
  * `mbedtls_test_ssl_endpoint_free()` after calling this function
  * even if it fails.
  *
+ * \note For DTLS, after calling this function on both endpoints,
+ *       call mbedtls_test_ssl_dtls_join_endpoints().
+ *
  * \p endpoint_type must be set as MBEDTLS_SSL_IS_SERVER or
  * MBEDTLS_SSL_IS_CLIENT.
  * \p pk_alg the algorithm to use, currently only MBEDTLS_PK_RSA and
@@ -474,6 +477,21 @@ void mbedtls_test_ssl_endpoint_free(
     mbedtls_test_ssl_endpoint *ep,
     mbedtls_test_message_socket_context *context);
 
+/* Join a DTLS client with a DTLS server.
+ *
+ * You must call this function after setting up the endpoint objects
+ * and before starting a DTLS handshake.
+ *
+ * \param client    The client. It must have been set up with
+ *                  mbedtls_test_ssl_endpoint_init().
+ * \param server    The server. It must have been set up with
+ *                  mbedtls_test_ssl_endpoint_init().
+ *
+ * \retval  0 on success, otherwise error code.
+ */
+int mbedtls_test_ssl_dtls_join_endpoints(mbedtls_test_ssl_endpoint *client,
+                                         mbedtls_test_ssl_endpoint *server);
+
 /*
  * This function moves ssl handshake from \p ssl to prescribed \p state.
  * /p second_ssl is used as second endpoint and their sockets have to be
diff --git a/tests/src/test_helpers/ssl_helpers.c b/tests/src/test_helpers/ssl_helpers.c
index 580cc9b821..f917acc574 100644
--- a/tests/src/test_helpers/ssl_helpers.c
+++ b/tests/src/test_helpers/ssl_helpers.c
@@ -933,6 +933,19 @@ void mbedtls_test_ssl_endpoint_free(
     }
 }
 
+int mbedtls_test_ssl_dtls_join_endpoints(mbedtls_test_ssl_endpoint *client,
+                                         mbedtls_test_ssl_endpoint *server)
+{
+    int ret = MBEDTLS_ERR_ERROR_CORRUPTION_DETECTED;
+
+    /* Nothing to do yet. */
+    (void) client;
+    (void) server;
+    ret = 0;
+
+    return ret;
+}
+
 int mbedtls_test_move_handshake_to_state(mbedtls_ssl_context *ssl,
                                          mbedtls_ssl_context *second_ssl,
                                          int state)
@@ -2169,6 +2182,10 @@ void mbedtls_test_ssl_perform_handshake(
 
     mbedtls_ssl_conf_authmode(&server.conf, options->srv_auth_mode);
 
+    if (options->dtls) {
+        TEST_EQUAL(mbedtls_test_ssl_dtls_join_endpoints(&client, &server), 0);
+    }
+
 #if defined(MBEDTLS_SSL_MAX_FRAGMENT_LENGTH)
     TEST_EQUAL(mbedtls_ssl_conf_max_frag_len(&(server.conf),
                                              (unsigned char) options->mfl),