diff --git a/mediapipe/calculators/core/BUILD b/mediapipe/calculators/core/BUILD
index dcc7ab7243..b8f86b1334 100644
--- a/mediapipe/calculators/core/BUILD
+++ b/mediapipe/calculators/core/BUILD
@@ -325,6 +325,7 @@ cc_library(
         ":concatenate_vector_calculator_cc_proto",
         "//mediapipe/framework:calculator_framework",
         "//mediapipe/framework/api2:node",
+        "//mediapipe/framework/formats:body_rig_cc_proto",
         "//mediapipe/framework/formats:classification_cc_proto",
         "//mediapipe/framework/formats:landmark_cc_proto",
         "//mediapipe/framework/port:ret_check",
diff --git a/mediapipe/calculators/core/concatenate_proto_list_calculator.cc b/mediapipe/calculators/core/concatenate_proto_list_calculator.cc
index 6c58e11107..a66e71464a 100644
--- a/mediapipe/calculators/core/concatenate_proto_list_calculator.cc
+++ b/mediapipe/calculators/core/concatenate_proto_list_calculator.cc
@@ -18,6 +18,7 @@
 #include "mediapipe/calculators/core/concatenate_vector_calculator.pb.h"
 #include "mediapipe/framework/api2/node.h"
 #include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/body_rig.pb.h"
 #include "mediapipe/framework/formats/classification.pb.h"
 #include "mediapipe/framework/formats/landmark.pb.h"
 #include "mediapipe/framework/port/canonical_errors.h"
@@ -128,6 +129,19 @@ class ConcatenateClassificationListCalculator
 };
 MEDIAPIPE_REGISTER_NODE(ConcatenateClassificationListCalculator);
 
+class ConcatenateJointListCalculator
+    : public ConcatenateListsCalculator<Joint, JointList> {
+ protected:
+  int ListSize(const JointList& list) const override {
+    return list.joint_size();
+  }
+  const Joint GetItem(const JointList& list, int idx) const override {
+    return list.joint(idx);
+  }
+  Joint* AddItem(JointList& list) const override { return list.add_joint(); }
+};
+MEDIAPIPE_REGISTER_NODE(ConcatenateJointListCalculator);
+
 }  // namespace api2
 }  // namespace mediapipe
 
diff --git a/mediapipe/framework/api2/stream/BUILD b/mediapipe/framework/api2/stream/BUILD
index 1391165fae..5753374551 100644
--- a/mediapipe/framework/api2/stream/BUILD
+++ b/mediapipe/framework/api2/stream/BUILD
@@ -2,6 +2,38 @@ package(default_visibility = ["//visibility:public"])
 
 licenses(["notice"])
 
+cc_library(
+    name = "concatenate",
+    hdrs = ["concatenate.h"],
+    deps = [
+        "//mediapipe/calculators/core:concatenate_proto_list_calculator",
+        "//mediapipe/calculators/core:concatenate_vector_calculator",
+        "//mediapipe/calculators/core:concatenate_vector_calculator_cc_proto",
+        "//mediapipe/framework/api2:builder",
+        "//mediapipe/framework/api2:port",
+        "//mediapipe/framework/formats:body_rig_cc_proto",
+        "//mediapipe/framework/formats:landmark_cc_proto",
+        "//mediapipe/framework/formats:tensor",
+    ],
+)
+
+cc_test(
+    name = "concatenate_test",
+    srcs = ["concatenate_test.cc"],
+    deps = [
+        ":concatenate",
+        "//mediapipe/framework:calculator_framework",
+        "//mediapipe/framework/api2:builder",
+        "//mediapipe/framework/formats:body_rig_cc_proto",
+        "//mediapipe/framework/formats:landmark_cc_proto",
+        "//mediapipe/framework/formats:tensor",
+        "//mediapipe/framework/port:gtest",
+        "//mediapipe/framework/port:gtest_main",
+        "//mediapipe/framework/port:parse_text_proto",
+        "//mediapipe/framework/port:status_matchers",
+    ],
+)
+
 cc_library(
     name = "detections_to_rects",
     srcs = ["detections_to_rects.cc"],
diff --git a/mediapipe/framework/api2/stream/concatenate.h b/mediapipe/framework/api2/stream/concatenate.h
new file mode 100644
index 0000000000..573d436a8d
--- /dev/null
+++ b/mediapipe/framework/api2/stream/concatenate.h
@@ -0,0 +1,69 @@
+#ifndef MEDIAPIPE_FRAMEWORK_API2_STREAM_CONCATENATE_H_
+#define MEDIAPIPE_FRAMEWORK_API2_STREAM_CONCATENATE_H_
+
+#include <vector>
+
+#include "mediapipe/calculators/core/concatenate_vector_calculator.pb.h"
+#include "mediapipe/framework/api2/builder.h"
+#include "mediapipe/framework/api2/port.h"
+#include "mediapipe/framework/formats/body_rig.pb.h"
+#include "mediapipe/framework/formats/landmark.pb.h"
+#include "mediapipe/framework/formats/tensor.h"
+
+namespace mediapipe::api2::builder {
+
+namespace internal_stream_concatenate {
+
+// Helper function that adds a node to a graph, that is capable of concatenating
+// a specific type (T).
+template <class T>
+GenericNode& AddConcatenateVectorNode(Graph& graph) {
+  if constexpr (std::is_same_v<T, mediapipe::LandmarkList>) {
+    return graph.AddNode("ConcatenateLandmarkListCalculator");
+  } else if constexpr (std::is_same_v<T, mediapipe::JointList>) {
+    return graph.AddNode("ConcatenateJointListCalculator");
+  } else if constexpr (std::is_same_v<T, std::vector<Tensor>>) {
+    return graph.AddNode("ConcatenateTensorVectorCalculator");
+  } else {
+    static_assert(dependent_false<T>::value,
+                  "Concatenate node is not available for the specified type.");
+  }
+}
+
+template <typename StreamsT,
+          typename PayloadT = typename StreamsT::value_type::PayloadT>
+Stream<PayloadT> Concatenate(StreamsT& streams,
+                             const bool only_emit_if_all_present,
+                             Graph& graph) {
+  auto& concatenator = AddConcatenateVectorNode<PayloadT>(graph);
+  for (int i = 0; i < streams.size(); ++i) {
+    streams[i].ConnectTo(concatenator.In("")[i]);
+  }
+
+  auto& concatenator_opts =
+      concatenator
+          .template GetOptions<mediapipe::ConcatenateVectorCalculatorOptions>();
+  concatenator_opts.set_only_emit_if_all_present(only_emit_if_all_present);
+
+  return concatenator.Out("").template Cast<PayloadT>();
+}
+
+}  // namespace internal_stream_concatenate
+
+template <typename StreamsT,
+          typename PayloadT = typename StreamsT::value_type::PayloadT>
+Stream<PayloadT> Concatenate(StreamsT& streams, Graph& graph) {
+  return internal_stream_concatenate::Concatenate(
+      streams, /*only_emit_if_all_present=*/false, graph);
+}
+
+template <typename StreamsT,
+          typename PayloadT = typename StreamsT::value_type::PayloadT>
+Stream<PayloadT> ConcatenateIfAllPresent(StreamsT& streams, Graph& graph) {
+  return internal_stream_concatenate::Concatenate(
+      streams, /*only_emit_if_all_present=*/true, graph);
+}
+
+}  // namespace mediapipe::api2::builder
+
+#endif  // MEDIAPIPE_FRAMEWORK_API2_STREAM_CONCATENATE_H_
diff --git a/mediapipe/framework/api2/stream/concatenate_test.cc b/mediapipe/framework/api2/stream/concatenate_test.cc
new file mode 100644
index 0000000000..e7785f780d
--- /dev/null
+++ b/mediapipe/framework/api2/stream/concatenate_test.cc
@@ -0,0 +1,188 @@
+#include "mediapipe/framework/api2/stream/concatenate.h"
+
+#include <vector>
+
+#include "mediapipe/framework/api2/builder.h"
+#include "mediapipe/framework/calculator_framework.h"
+#include "mediapipe/framework/formats/body_rig.pb.h"
+#include "mediapipe/framework/formats/landmark.pb.h"
+#include "mediapipe/framework/formats/tensor.h"
+#include "mediapipe/framework/port/gmock.h"
+#include "mediapipe/framework/port/gtest.h"
+#include "mediapipe/framework/port/parse_text_proto.h"
+#include "mediapipe/framework/port/status_matchers.h"
+
+namespace mediapipe::api2::builder {
+namespace {
+
+TEST(Concatenate, ConcatenateLandmarkList) {
+  Graph graph;
+  std::vector<Stream<LandmarkList>> items = {
+      graph.In("LMK_LIST")[0].Cast<LandmarkList>(),
+      graph.In("LMK_LIST")[1].Cast<LandmarkList>()};
+  Stream<LandmarkList> landmark_list = Concatenate(items, graph);
+  landmark_list.SetName("landmark_list");
+  EXPECT_THAT(graph.GetConfig(),
+              EqualsProto(ParseTextProtoOrDie<CalculatorGraphConfig>(R"pb(
+                node {
+                  calculator: "ConcatenateLandmarkListCalculator"
+                  input_stream: "__stream_0"
+                  input_stream: "__stream_1"
+                  output_stream: "landmark_list"
+                  options {
+                    [mediapipe.ConcatenateVectorCalculatorOptions.ext] {
+                      only_emit_if_all_present: false
+                    }
+                  }
+                }
+                input_stream: "LMK_LIST:0:__stream_0"
+                input_stream: "LMK_LIST:1:__stream_1"
+              )pb")));
+
+  CalculatorGraph calcualtor_graph;
+  MP_EXPECT_OK(calcualtor_graph.Initialize(graph.GetConfig()));
+}
+
+TEST(Concatenate, ConcatenateLandmarkList_IfAllPresent) {
+  Graph graph;
+  std::vector<Stream<LandmarkList>> items = {
+      graph.In("LMK_LIST")[0].Cast<LandmarkList>(),
+      graph.In("LMK_LIST")[1].Cast<LandmarkList>()};
+  Stream<LandmarkList> landmark_list = ConcatenateIfAllPresent(items, graph);
+  landmark_list.SetName("landmark_list");
+  EXPECT_THAT(graph.GetConfig(),
+              EqualsProto(ParseTextProtoOrDie<CalculatorGraphConfig>(R"pb(
+                node {
+                  calculator: "ConcatenateLandmarkListCalculator"
+                  input_stream: "__stream_0"
+                  input_stream: "__stream_1"
+                  output_stream: "landmark_list"
+                  options {
+                    [mediapipe.ConcatenateVectorCalculatorOptions.ext] {
+                      only_emit_if_all_present: true
+                    }
+                  }
+                }
+                input_stream: "LMK_LIST:0:__stream_0"
+                input_stream: "LMK_LIST:1:__stream_1"
+              )pb")));
+
+  CalculatorGraph calcualtor_graph;
+  MP_EXPECT_OK(calcualtor_graph.Initialize(graph.GetConfig()));
+}
+
+TEST(Concatenate, ConcatenateJointList) {
+  Graph graph;
+  std::vector<Stream<JointList>> items = {
+      graph.In("JT_LIST")[0].Cast<JointList>(),
+      graph.In("JT_LIST")[1].Cast<JointList>()};
+  Stream<JointList> joint_list = Concatenate(items, graph);
+  joint_list.SetName("joint_list");
+  EXPECT_THAT(graph.GetConfig(),
+              EqualsProto(ParseTextProtoOrDie<CalculatorGraphConfig>(R"pb(
+                node {
+                  calculator: "ConcatenateJointListCalculator"
+                  input_stream: "__stream_0"
+                  input_stream: "__stream_1"
+                  output_stream: "joint_list"
+                  options {
+                    [mediapipe.ConcatenateVectorCalculatorOptions.ext] {
+                      only_emit_if_all_present: false
+                    }
+                  }
+                }
+                input_stream: "JT_LIST:0:__stream_0"
+                input_stream: "JT_LIST:1:__stream_1"
+              )pb")));
+
+  CalculatorGraph calcualtor_graph;
+  MP_EXPECT_OK(calcualtor_graph.Initialize(graph.GetConfig()));
+}
+
+TEST(Concatenate, ConcatenateJointList_IfAllPresent) {
+  Graph graph;
+  std::vector<Stream<JointList>> items = {
+      graph.In("JT_LIST")[0].Cast<JointList>(),
+      graph.In("JT_LIST")[1].Cast<JointList>()};
+  Stream<JointList> joint_list = ConcatenateIfAllPresent(items, graph);
+  joint_list.SetName("joint_list");
+  EXPECT_THAT(graph.GetConfig(),
+              EqualsProto(ParseTextProtoOrDie<CalculatorGraphConfig>(R"pb(
+                node {
+                  calculator: "ConcatenateJointListCalculator"
+                  input_stream: "__stream_0"
+                  input_stream: "__stream_1"
+                  output_stream: "joint_list"
+                  options {
+                    [mediapipe.ConcatenateVectorCalculatorOptions.ext] {
+                      only_emit_if_all_present: true
+                    }
+                  }
+                }
+                input_stream: "JT_LIST:0:__stream_0"
+                input_stream: "JT_LIST:1:__stream_1"
+              )pb")));
+
+  CalculatorGraph calcualtor_graph;
+  MP_EXPECT_OK(calcualtor_graph.Initialize(graph.GetConfig()));
+}
+
+TEST(Concatenate, ConcatenateTensorVectorList) {
+  Graph graph;
+  std::vector<Stream<std::vector<Tensor>>> items = {
+      graph.In("VT_LIST")[0].Cast<std::vector<Tensor>>(),
+      graph.In("VT_LIST")[1].Cast<std::vector<Tensor>>()};
+  Stream<std::vector<Tensor>> tensors = Concatenate(items, graph);
+  tensors.SetName("joint_list");
+  EXPECT_THAT(graph.GetConfig(),
+              EqualsProto(ParseTextProtoOrDie<CalculatorGraphConfig>(R"pb(
+                node {
+                  calculator: "ConcatenateTensorVectorCalculator"
+                  input_stream: "__stream_0"
+                  input_stream: "__stream_1"
+                  output_stream: "joint_list"
+                  options {
+                    [mediapipe.ConcatenateVectorCalculatorOptions.ext] {
+                      only_emit_if_all_present: false
+                    }
+                  }
+                }
+                input_stream: "VT_LIST:0:__stream_0"
+                input_stream: "VT_LIST:1:__stream_1"
+              )pb")));
+
+  CalculatorGraph calcualtor_graph;
+  MP_EXPECT_OK(calcualtor_graph.Initialize(graph.GetConfig()));
+}
+
+TEST(Concatenate, ConcatenateTensorVectorList_IfAllPresent) {
+  Graph graph;
+  std::vector<Stream<std::vector<Tensor>>> items = {
+      graph.In("VT_LIST")[0].Cast<std::vector<Tensor>>(),
+      graph.In("VT_LIST")[1].Cast<std::vector<Tensor>>()};
+
+  Stream<std::vector<Tensor>> tensors = ConcatenateIfAllPresent(items, graph);
+  tensors.SetName("joint_list");
+  EXPECT_THAT(graph.GetConfig(),
+              EqualsProto(ParseTextProtoOrDie<CalculatorGraphConfig>(R"pb(
+                node {
+                  calculator: "ConcatenateTensorVectorCalculator"
+                  input_stream: "__stream_0"
+                  input_stream: "__stream_1"
+                  output_stream: "joint_list"
+                  options {
+                    [mediapipe.ConcatenateVectorCalculatorOptions.ext] {
+                      only_emit_if_all_present: true
+                    }
+                  }
+                }
+                input_stream: "VT_LIST:0:__stream_0"
+                input_stream: "VT_LIST:1:__stream_1"
+              )pb")));
+
+  CalculatorGraph calcualtor_graph;
+  MP_EXPECT_OK(calcualtor_graph.Initialize(graph.GetConfig()));
+}
+
+}  // namespace
+}  // namespace mediapipe::api2::builder