diff --git a/tests/toranj/build.sh b/tests/toranj/build.sh
index 30fe7e594..b3a54ff8c 100755
--- a/tests/toranj/build.sh
+++ b/tests/toranj/build.sh
@@ -86,6 +86,7 @@ configure_options="                \
     --enable-diag                  \
     --enable-ftd                   \
     --enable-jam-detection         \
+    --enable-joiner                \
     --enable-legacy                \
     --enable-mac-filter            \
     --enable-ncp                   \
diff --git a/tests/toranj/start.sh b/tests/toranj/start.sh
index 530fcd5ff..122d39612 100755
--- a/tests/toranj/start.sh
+++ b/tests/toranj/start.sh
@@ -133,6 +133,7 @@ run test-027-child-mode-change.py
 run test-028-router-leader-reset-recovery.py
 run test-029-data-poll-interval.py
 run test-030-slaac-address-ncp.py
+run test-031-meshcop-joiner-commissioner.py
 run test-100-mcu-power-state.py
 run test-600-channel-manager-properties.py
 run test-601-channel-manager-channel-change.py
diff --git a/tests/toranj/test-031-meshcop-joiner-commissioner.py b/tests/toranj/test-031-meshcop-joiner-commissioner.py
new file mode 100644
index 000000000..fc11dbc78
--- /dev/null
+++ b/tests/toranj/test-031-meshcop-joiner-commissioner.py
@@ -0,0 +1,93 @@
+#!/usr/bin/env python
+#
+#  Copyright (c) 2019, The OpenThread Authors.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions are met:
+#  1. Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#  2. Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#  3. Neither the name of the copyright holder nor the
+#     names of its contributors may be used to endorse or promote products
+#     derived from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+
+import time
+import wpan
+from wpan import verify
+
+#-----------------------------------------------------------------------------------------------------------------------
+# Test description: Test MeshCop Joiner and Commissioner behavior
+#
+# This test covers Thread commissioning with a single commissioner and joiner device.
+
+test_name = __file__[:-3] if __file__.endswith('.py') else __file__
+print '-' * 120
+print 'Starting \'{}\''.format(test_name)
+
+
+#-----------------------------------------------------------------------------------------------------------------------
+# Creating `wpan.Nodes` instances
+
+speedup = 4
+wpan.Node.set_time_speedup_factor(speedup)
+
+c = wpan.Node()
+j = wpan.Node()
+
+#-----------------------------------------------------------------------------------------------------------------------
+# Init all nodes
+
+wpan.Node.init_all_nodes()
+
+#-----------------------------------------------------------------------------------------------------------------------
+# Build network topology
+
+c.form('meshcop')
+
+#-----------------------------------------------------------------------------------------------------------------------
+# Test implementation
+
+WAIT_TIME = 2 # seconds
+
+PSKd = '123456'
+
+joiner_hw_addr = j.get(wpan.WPAN_HW_ADDRESS)[1:-1]  # Remove the `[]`
+
+# Start the commissioner and add joiner hw address along with PSKd
+c.commissioner_start()
+c.commissioner_add_joiner(joiner_hw_addr, PSKd)
+
+# Start Joiner
+j.joiner_join(PSKd)
+
+# Verify that Joiner succeeded
+verify(j.get(wpan.WPAN_STATE) == wpan.STATE_COMMISSIONED)
+
+j.joiner_attach()
+
+def joiner_is_asscoated():
+    verify(j.is_associated())
+
+wpan.verify_within(joiner_is_asscoated, WAIT_TIME)
+
+#-----------------------------------------------------------------------------------------------------------------------
+# Test finished
+
+wpan.Node.finalize_all_nodes()
+
+print '\'{}\' passed.'.format(test_name)
diff --git a/tests/toranj/wpan.py b/tests/toranj/wpan.py
index 90e1cb2cf..9c38c8879 100644
--- a/tests/toranj/wpan.py
+++ b/tests/toranj/wpan.py
@@ -496,6 +496,18 @@ class Node(object):
                             (' -l {}'.format(prefix_len) if prefix_len is not None else '') +
                             (' -p {}'.format(priority) if priority is not None else ''))
 
+    def commissioner_start(self):
+        return self.wpanctl('commissioner start')
+
+    def commissioner_add_joiner(self, eui64, pskd, timeout = '100'):
+        return self.wpanctl('commissioner joiner-add {} {} {}'.format(eui64, timeout, pskd))
+
+    def joiner_join(self, pskd):
+        return self.wpanctl('joiner --join {}'.format(pskd))
+
+    def joiner_attach(self):
+        return self.wpanctl('joiner --attach')
+
     #------------------------------------------------------------------------------------------------------------------
     # Helper methods