diff --git a/doc/openocd.texi b/doc/openocd.texi
index 0398e2fb4..b328370e4 100644
--- a/doc/openocd.texi
+++ b/doc/openocd.texi
@@ -4677,11 +4677,12 @@ This command returns a list of all registered DAP objects. It it useful mainly
 for TCL scripting.
 @end deffn
 
-@deffn {Command} {dap info} [num]
+@deffn {Command} {dap info} [@var{num}|@option{root}]
 Displays the ROM table for MEM-AP @var{num},
 defaulting to the currently selected AP of the currently selected target.
 On ADIv5 DAP @var{num} is the numeric index of the AP.
 On ADIv6 DAP @var{num} is the base address of the AP.
+With ADIv6 only, @option{root} specifies the root ROM table.
 @end deffn
 
 @deffn {Command} {dap init}
@@ -4692,11 +4693,12 @@ initialization, too.
 
 The following commands exist as subcommands of DAP instances:
 
-@deffn {Command} {$dap_name info} [num]
+@deffn {Command} {$dap_name info} [@var{num}|@option{root}]
 Displays the ROM table for MEM-AP @var{num},
 defaulting to the currently selected AP.
 On ADIv5 DAP @var{num} is the numeric index of the AP.
 On ADIv6 DAP @var{num} is the base address of the AP.
+With ADIv6 only, @option{root} specifies the root ROM table.
 @end deffn
 
 @deffn {Command} {$dap_name apid} [num]
diff --git a/src/target/arm_adi_v5.c b/src/target/arm_adi_v5.c
index 79f9b8d2b..d33dcf853 100644
--- a/src/target/arm_adi_v5.c
+++ b/src/target/arm_adi_v5.c
@@ -1154,6 +1154,32 @@ static int dap_get_debugbase(struct adiv5_ap *ap,
 	return ERROR_OK;
 }
 
+int adiv6_dap_read_baseptr(struct command_invocation *cmd, struct adiv5_dap *dap, uint64_t *baseptr)
+{
+	uint32_t baseptr_lower, baseptr_upper = 0;
+	int retval;
+
+	if (dap->asize > 32) {
+		retval = dap_queue_dp_read(dap, DP_BASEPTR1, &baseptr_upper);
+		if (retval != ERROR_OK)
+			return retval;
+	}
+
+	retval = dap_dp_read_atomic(dap, DP_BASEPTR0, &baseptr_lower);
+	if (retval != ERROR_OK)
+		return retval;
+
+	if ((baseptr_lower & DP_BASEPTR0_VALID) != DP_BASEPTR0_VALID) {
+		command_print(cmd, "System root table not present");
+		return ERROR_FAIL;
+	}
+
+	baseptr_lower &= ~0x0fff;
+	*baseptr = (((uint64_t)baseptr_upper) << 32) | baseptr_lower;
+
+	return ERROR_OK;
+}
+
 /** Holds registers and coordinates of a CoreSight component */
 struct cs_component_vals {
 	struct adiv5_ap *ap;
@@ -2225,6 +2251,18 @@ COMMAND_HANDLER(handle_dap_info_command)
 		apsel = dap->apsel;
 		break;
 	case 1:
+		if (!strcmp(CMD_ARGV[0], "root")) {
+			if (!is_adiv6(dap)) {
+				command_print(CMD, "Option \"root\" not allowed with ADIv5 DAP");
+				return ERROR_COMMAND_ARGUMENT_INVALID;
+			}
+			int retval = adiv6_dap_read_baseptr(CMD, dap, &apsel);
+			if (retval != ERROR_OK) {
+				command_print(CMD, "Failed reading DAP baseptr");
+				return retval;
+			}
+			break;
+		}
 		COMMAND_PARSE_NUMBER(u64, CMD_ARGV[0], apsel);
 		if (!is_ap_num_valid(dap, apsel)) {
 			command_print(CMD, "Invalid AP number");
@@ -2595,9 +2633,9 @@ const struct command_registration dap_instance_commands[] = {
 		.name = "info",
 		.handler = handle_dap_info_command,
 		.mode = COMMAND_EXEC,
-		.help = "display ROM table for MEM-AP "
-			"(default currently selected AP)",
-		.usage = "[ap_num]",
+		.help = "display ROM table for specified MEM-AP (default currently selected AP) "
+			"or the ADIv6 root ROM table",
+		.usage = "[ap_num | 'root']",
 	},
 	{
 		.name = "apsel",
diff --git a/src/target/arm_adi_v5.h b/src/target/arm_adi_v5.h
index 534dd3b73..8fb57470b 100644
--- a/src/target/arm_adi_v5.h
+++ b/src/target/arm_adi_v5.h
@@ -86,6 +86,9 @@
 #define DP_DPIDR1_ASIZE_MASK    (0x7F)
 #define DP_DPIDR1_ERRMODE       BIT(7)
 
+/* Fields of register DP_BASEPTR0 */
+#define DP_BASEPTR0_VALID       BIT(0)
+
 /* Fields of the DP's CTRL/STAT register */
 #define CORUNDETECT     (1UL << 0)
 #define SSTICKYORUN     (1UL << 1)
@@ -692,6 +695,9 @@ int mem_ap_init(struct adiv5_ap *ap);
 /* Invalidate cached DP select and cached TAR and CSW of all APs */
 void dap_invalidate_cache(struct adiv5_dap *dap);
 
+/* read ADIv6 baseptr register */
+int adiv6_dap_read_baseptr(struct command_invocation *cmd, struct adiv5_dap *dap, target_addr_t *baseptr);
+
 /* test if ap_num is valid, based on current knowledge of dap */
 bool is_ap_num_valid(struct adiv5_dap *dap, uint64_t ap_num);
 
diff --git a/src/target/arm_dap.c b/src/target/arm_dap.c
index cfd14de93..05fd6806a 100644
--- a/src/target/arm_dap.c
+++ b/src/target/arm_dap.c
@@ -471,6 +471,18 @@ COMMAND_HANDLER(handle_dap_info_command)
 			apsel = dap->apsel;
 			break;
 		case 1:
+			if (!strcmp(CMD_ARGV[0], "root")) {
+				if (!is_adiv6(dap)) {
+					command_print(CMD, "Option \"root\" not allowed with ADIv5 DAP");
+					return ERROR_COMMAND_ARGUMENT_INVALID;
+				}
+				int retval = adiv6_dap_read_baseptr(CMD, dap, &apsel);
+				if (retval != ERROR_OK) {
+					command_print(CMD, "Failed reading DAP baseptr");
+					return retval;
+				}
+				break;
+			}
 			COMMAND_PARSE_NUMBER(u64, CMD_ARGV[0], apsel);
 			if (!is_ap_num_valid(dap, apsel))
 				return ERROR_COMMAND_SYNTAX_ERROR;
@@ -515,9 +527,9 @@ static const struct command_registration dap_subcommand_handlers[] = {
 		.name = "info",
 		.handler = handle_dap_info_command,
 		.mode = COMMAND_EXEC,
-		.help = "display ROM table for MEM-AP of current target "
-		"(default currently selected AP)",
-		.usage = "[ap_num]",
+		.help = "display ROM table for specified MEM-AP (default MEM-AP of current target) "
+			"or the ADIv6 root ROM table of current target's DAP",
+		.usage = "[ap_num | 'root']",
 	},
 	COMMAND_REGISTRATION_DONE
 };