diff --git a/package.json b/package.json
index 3ecdb7b..b2aea39 100644
--- a/package.json
+++ b/package.json
@@ -82,6 +82,14 @@
         "command": "cdt.debug.setOutputRadixToDecimal",
         "category": "CDT-GDB",
         "title": "Set Global Output Radix to Decimal"
+      },
+      {
+        "title": "CDT-GDB: Set Hardware Breakpoint",
+        "command": "cdt.debug.breakpoints.addHardwareBreakpoint"
+      },
+      {
+        "title": "CDT-GDB: Set Software Breakpoint",
+        "command": "cdt.debug.breakpoints.addSoftwareBreakpoint"
       }
     ],
     "breakpoints": [
@@ -885,6 +893,24 @@
         {
           "command": "cdt.debug.setOutputRadixToDecimal",
           "when": "inDebugMode"
+        },
+        {
+          "command": "cdt.debug.breakpoints.addHardwareBreakpoint",
+          "when": "false"
+        },
+        {
+          "command": "cdt.debug.breakpoints.addSoftwareBreakpoint",
+          "when": "false"
+        }
+      ],
+      "editor/lineNumber/context": [
+        {
+          "command": "cdt.debug.breakpoints.addHardwareBreakpoint",
+          "group": "navigation"
+        },
+        {
+          "command": "cdt.debug.breakpoints.addSoftwareBreakpoint",
+          "group": "navigation"
         }
       ]
     }
diff --git a/src/BreakpointModesController.ts b/src/BreakpointModesController.ts
new file mode 100644
index 0000000..20a4b6c
--- /dev/null
+++ b/src/BreakpointModesController.ts
@@ -0,0 +1,78 @@
+/*********************************************************************
+ * Copyright (c) 2026 Renesas Electronics Corporation and others
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *********************************************************************/
+import {
+    ExtensionContext,
+    Position,
+    Location,
+    SourceBreakpoint,
+    commands,
+    debug,
+    window,
+    Uri,
+} from 'vscode';
+import { arePathsEqual } from './utils';
+
+export class BreakpointModesController {
+    constructor(private context: ExtensionContext) {}
+
+    setBreakpointHandler =
+        (mode: 'hardware' | 'software') =>
+        async (values: { uri: Uri; lineNumber: number }) => {
+            try {
+                const line = values.lineNumber - 1;
+                const existingBreakpoints = debug.breakpoints.filter(
+                    (bp: Partial<SourceBreakpoint>) =>
+                        arePathsEqual(
+                            bp?.location?.uri?.path,
+                            values.uri.path,
+                        ) && bp?.location?.range?.start?.line === line,
+                );
+                if (existingBreakpoints.length) {
+                    const existingBreakpointHasDesiredMode =
+                        existingBreakpoints.findIndex(
+                            (bp: any) => bp.mode === mode,
+                        ) > -1;
+                    if (existingBreakpointHasDesiredMode) {
+                        return;
+                    }
+                    debug.removeBreakpoints(existingBreakpoints);
+                }
+                const sp = new SourceBreakpoint(
+                    new Location(values.uri, new Position(line, 0)),
+                );
+                // Limitation of VSCode: https://github.com/microsoft/vscode/issues/304764
+                // This is a workaround to inject 'mode' into VS breakpoint object.
+                // This injection functionally working as expected and passes the information
+                // correctly through DAP messages, however the breakpoint mode information is not
+                // visible in the breakpoint list window in VSCode
+                (sp as any).mode = mode;
+                debug.addBreakpoints([sp]);
+            } catch (e) {
+                window.showErrorMessage(
+                    `Failed to set ${mode} breakpoint: ${e}`,
+                );
+            }
+        };
+
+    registerCommands = () => {
+        this.context.subscriptions.push(
+            commands.registerCommand(
+                'cdt.debug.breakpoints.addHardwareBreakpoint',
+                this.setBreakpointHandler('hardware'),
+            ),
+        );
+        this.context.subscriptions.push(
+            commands.registerCommand(
+                'cdt.debug.breakpoints.addSoftwareBreakpoint',
+                this.setBreakpointHandler('software'),
+            ),
+        );
+    };
+}
diff --git a/src/extension.ts b/src/extension.ts
index 58a3ee4..1b5e6cc 100644
--- a/src/extension.ts
+++ b/src/extension.ts
@@ -18,6 +18,7 @@ import { CustomReset } from './CustomReset';
 export { CustomReset } from './CustomReset';
 import { SwitchRadix } from './switchRadix';
 export { SwitchRadix } from './switchRadix';
+import { BreakpointModesController } from './BreakpointModesController';
 
 export function activate(context: ExtensionContext) {
     new MemoryServer(context);
@@ -40,6 +41,8 @@ export function activate(context: ExtensionContext) {
             });
         }),
     );
+    const breakpointModesController = new BreakpointModesController(context);
+    breakpointModesController.registerCommands();
 }
 
 export function deactivate() {
diff --git a/src/utils.ts b/src/utils.ts
new file mode 100644
index 0000000..9aa228d
--- /dev/null
+++ b/src/utils.ts
@@ -0,0 +1,41 @@
+/*********************************************************************
+ * Copyright (c) 2026 Renesas Electronics Corporation and others
+ *
+ * This program and the accompanying materials are made
+ * available under the terms of the Eclipse Public License 2.0
+ * which is available at https://www.eclipse.org/legal/epl-2.0/
+ *
+ * SPDX-License-Identifier: EPL-2.0
+ *********************************************************************/
+import { platform } from 'node:os';
+import { normalize } from 'node:path';
+
+/**
+ * This function compares the given paths, returns true if they are equal.
+ *
+ * - The compare function normalises the paths before checking, which means '.' and '..' expressions
+ *   reduced properly.
+ * - For Windows, the compare function is case insensitive
+ * - For Windows, the compare function also handles backslashes, forward slashes insensitively.
+ * - Compare function handles undefined values, which means given paths can be undefined. No need to check
+ *   undefined before sending the arguments.
+ *
+ * @param path1
+ *      First path to compare
+ * @param path2
+ *      Second path to compare
+ */
+export const arePathsEqual = (
+    path1: string | undefined,
+    path2: string | undefined,
+): boolean => {
+    if (!path1 || !path2) {
+        return path1 === path2;
+    }
+    const nPath1 = normalize(path1);
+    const nPath2 = normalize(path2);
+    return platform() === 'win32'
+        ? nPath1.localeCompare(nPath2, undefined, { sensitivity: 'accent' }) ===
+              0
+        : nPath1 === nPath2;
+};