diff --git a/README.md b/README.md
index 2c199f639..73124e02f 100644
--- a/README.md
+++ b/README.md
@@ -204,6 +204,7 @@ Community Maintained Cars and Features
 | Volkswagen| Jetta 2018-20                 | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Jetta GLI 2021                | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Passat 2016-17<sup>2</sup>    | Driver Assistance | Stock            | 0mph               | 0mph         |
+| Volkswagen| T-Cross 2021                  | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Tiguan 2020                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 | Volkswagen| Touran 2017                   | Driver Assistance | Stock            | 0mph               | 0mph         |
 
diff --git a/RELEASES.md b/RELEASES.md
index 41e1b769f..a2f25825a 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,5 +1,6 @@
 Version 0.8.7 (2021-XX-XX)
 ========================
+ * Volkswagen T-Cross 2021 support thanks to jyoung8607!
 
 Version 0.8.6 (2021-07-21)
 ========================
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 77d3be4b9..802b5e27b 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -79,6 +79,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1551 + STD_CARGO_KG
       ret.wheelbase = 2.79
 
+    elif candidate == CAR.TCROSS_MK1:
+      ret.mass = 1150 + STD_CARGO_KG
+      ret.wheelbase = 2.60
+
     elif candidate == CAR.TIGUAN_MK2:
       ret.mass = 1715 + STD_CARGO_KG
       ret.wheelbase = 2.74
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 8d1a88e93..63cd8d291 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -69,6 +69,7 @@ class CAR:
   GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN"        # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
   JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN"      # Chassis BU, Mk7 Jetta
   PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN"    # Chassis 3G, Mk8 Passat and variants
+  TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN"   # Chassis C1, Mk1 VW T-Cross SWB and LWB variants
   TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN"    # Chassis AD/BW, Mk2 VW Tiguan and variants
   TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN"    # Chassis 1T, Mk2 VW Touran and variants
   AUDI_A3_MK3 = "AUDI A3 3RD GEN"             # Chassis 8V/FF, Mk3 Audi A3 and variants
@@ -298,6 +299,23 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
+  CAR.TCROSS_MK1: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704C906025AK\xf1\x897053',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300050E \xf1\x891903',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\02212130411110411--04041104141311152H14',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144M \xf1\x896041',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572T \xf1\x890383',
+    ],
+  },
   CAR.TIGUAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906026EJ\xf1\x893661',
diff --git a/selfdrive/test/test_routes.py b/selfdrive/test/test_routes.py
index 7b42ed208..2dfa6f7a3 100755
--- a/selfdrive/test/test_routes.py
+++ b/selfdrive/test/test_routes.py
@@ -134,6 +134,7 @@ routes = [
   TestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7),
   TestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7),
   TestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8),
+  TestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1),
   TestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2),
   TestRoute("a589dcc642fdb10a|2021-06-14--20-54-26", VOLKSWAGEN.TOURAN_MK2),
   TestRoute("07667b885add75fd|2021-01-23--19-48-42", VOLKSWAGEN.AUDI_A3_MK3),