diff --git a/include/libcamera/ipa/rkisp1.mojom b/include/libcamera/ipa/rkisp1.mojom
index eaf3955e..caa1121a 100644
--- a/include/libcamera/ipa/rkisp1.mojom
+++ b/include/libcamera/ipa/rkisp1.mojom
@@ -32,5 +32,6 @@ interface IPARkISP1Interface {
 interface IPARkISP1EventInterface {
 	paramsBufferReady(uint32 frame);
 	setSensorControls(uint32 frame, libcamera.ControlList sensorControls);
+	setLensControls(libcamera.ControlList sensorControls);
 	metadataReady(uint32 frame, libcamera.ControlList metadata);
 };
diff --git a/src/ipa/rkisp1/ipa_context.h b/src/ipa/rkisp1/ipa_context.h
index 2bdb6a81..d6d46b57 100644
--- a/src/ipa/rkisp1/ipa_context.h
+++ b/src/ipa/rkisp1/ipa_context.h
@@ -42,6 +42,11 @@ struct IPASessionConfiguration {
 };
 
 struct IPAFrameContext {
+	struct {
+		uint32_t lensPosition;
+		bool applyLensCtrls;
+	} af;
+
 	struct {
 		uint32_t exposure;
 		double gain;
diff --git a/src/ipa/rkisp1/rkisp1.cpp b/src/ipa/rkisp1/rkisp1.cpp
index 9e4c48a2..39e1ab2f 100644
--- a/src/ipa/rkisp1/rkisp1.cpp
+++ b/src/ipa/rkisp1/rkisp1.cpp
@@ -253,6 +253,10 @@ int IPARkISP1::configure([[maybe_unused]] const IPACameraSensorInfo &info,
 	context_.configuration.agc.minAnalogueGain = camHelper_->gain(minGain);
 	context_.configuration.agc.maxAnalogueGain = camHelper_->gain(maxGain);
 
+	/* Lens position is unknown at the startup, so initilize the variable
+	 * that holds the current position to something out of the range. */
+	context_.frameContext.af.lensPosition = std::numeric_limits<int32_t>::max();
+
 	context_.frameContext.frameCount = 0;
 
 	for (auto const &algo : algorithms()) {
@@ -348,6 +352,14 @@ void IPARkISP1::setControls(unsigned int frame)
 	ctrls.set(V4L2_CID_ANALOGUE_GAIN, static_cast<int32_t>(gain));
 
 	setSensorControls.emit(frame, ctrls);
+
+	if (lensCtrls_ && context_.frameContext.af.applyLensCtrls) {
+		context_.frameContext.af.applyLensCtrls = false;
+		ControlList lensCtrls(*lensCtrls_);
+		lensCtrls.set(V4L2_CID_FOCUS_ABSOLUTE,
+			      static_cast<int32_t>(context_.frameContext.af.lensPosition));
+		setLensControls.emit(lensCtrls);
+	}
 }
 
 void IPARkISP1::prepareMetadata(unsigned int frame, unsigned int aeState)
diff --git a/src/libcamera/pipeline/rkisp1/rkisp1.cpp b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
index 5f10c26b..de0d37da 100644
--- a/src/libcamera/pipeline/rkisp1/rkisp1.cpp
+++ b/src/libcamera/pipeline/rkisp1/rkisp1.cpp
@@ -108,6 +108,7 @@ private:
 	void paramFilled(unsigned int frame);
 	void setSensorControls(unsigned int frame,
 			       const ControlList &sensorControls);
+	void setLensControls(const ControlList &lensControls);
 
 	void metadataReady(unsigned int frame, const ControlList &metadata);
 };
@@ -324,6 +325,7 @@ int RkISP1CameraData::loadIPA(unsigned int hwRevision)
 		return -ENOENT;
 
 	ipa_->setSensorControls.connect(this, &RkISP1CameraData::setSensorControls);
+	ipa_->setLensControls.connect(this, &RkISP1CameraData::setLensControls);
 	ipa_->paramsBufferReady.connect(this, &RkISP1CameraData::paramFilled);
 	ipa_->metadataReady.connect(this, &RkISP1CameraData::metadataReady);
 
@@ -378,6 +380,20 @@ void RkISP1CameraData::setSensorControls([[maybe_unused]] unsigned int frame,
 	delayedCtrls_->push(sensorControls);
 }
 
+void RkISP1CameraData::setLensControls(const ControlList &lensControls)
+{
+	CameraLens *focusLens = sensor_->focusLens();
+	if (!focusLens)
+		return;
+
+	if (!lensControls.contains(V4L2_CID_FOCUS_ABSOLUTE))
+		return;
+
+	const ControlValue &focusValue = lensControls.get(V4L2_CID_FOCUS_ABSOLUTE);
+
+	focusLens->setFocusPosition(focusValue.get<int32_t>());
+}
+
 void RkISP1CameraData::metadataReady(unsigned int frame, const ControlList &metadata)
 {
 	RkISP1FrameInfo *info = frameInfo_.find(frame);