diff --git a/boards/raspberrypi/rpi_pico2/board.cmake b/boards/raspberrypi/rpi_pico2/board.cmake
index c57bc2b04d87bcc..686fbd9d40e354e 100644
--- a/boards/raspberrypi/rpi_pico2/board.cmake
+++ b/boards/raspberrypi/rpi_pico2/board.cmake
@@ -1,5 +1,18 @@
 # SPDX-License-Identifier: Apache-2.0
 
+if ("${RPI_PICO_DEBUG_ADAPTER}" STREQUAL "")
+	set(RPI_PICO_DEBUG_ADAPTER "cmsis-dap")
+endif()
+
+board_runner_args(openocd --cmd-pre-init "source [find interface/${RPI_PICO_DEBUG_ADAPTER}.cfg]")
+board_runner_args(openocd --cmd-pre-init "source [find target/rp2350.cfg]")
+
+# The adapter speed is expected to be set by interface configuration.
+# The Raspberry Pi's OpenOCD fork doesn't, so match their documentation at
+# https://www.raspberrypi.com/documentation/microcontrollers/debug-probe.html#debugging-with-swd
+board_runner_args(openocd --cmd-pre-init "set_adapter_speed_if_not_set 5000")
+
 board_runner_args(uf2 "--board-id=RP2350")
 
-include(${ZEPHYR_BASE}/boards/common/uf2.board.cmake)
\ No newline at end of file
+include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
+include(${ZEPHYR_BASE}/boards/common/uf2.board.cmake)
diff --git a/boards/raspberrypi/rpi_pico2/rpi_pico2_defconfig b/boards/raspberrypi/rpi_pico2/rpi_pico2_defconfig
index 16d269697d035b5..d47066f1a8a1af5 100644
--- a/boards/raspberrypi/rpi_pico2/rpi_pico2_defconfig
+++ b/boards/raspberrypi/rpi_pico2/rpi_pico2_defconfig
@@ -1,3 +1,4 @@
+CONFIG_BUILD_OUTPUT_HEX=y
 CONFIG_BUILD_OUTPUT_UF2=y
 CONFIG_CLOCK_CONTROL=y
 CONFIG_CONSOLE=y
diff --git a/boards/raspberrypi/rpi_pico2/support/openocd.cfg b/boards/raspberrypi/rpi_pico2/support/openocd.cfg
new file mode 100644
index 000000000000000..82666bb53314ce7
--- /dev/null
+++ b/boards/raspberrypi/rpi_pico2/support/openocd.cfg
@@ -0,0 +1,11 @@
+# Copyright (c) 2024 TOKITA Hiroshi
+# SPDX-License-Identifier: Apache-2.0
+
+# Checking and set 'adapter speed'.
+# Set the adaptor speed, if unset, and given as an argument.
+proc set_adapter_speed_if_not_set { speed } {
+	puts "checking adapter speed..."
+	if { [catch {adapter speed} ret] } {
+		adapter speed $speed
+	}
+}