diff --git a/.gitmodules b/.gitmodules
index 8b2194a7..938a8808 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -586,3 +586,6 @@
 [submodule "libraries/drivers/ssd1305"]
 	path = libraries/drivers/ssd1305
 	url = https://github.com/adafruit/Adafruit_CircuitPython_SSD1305.git
+[submodule "libraries/drivers/rplidar"]
+	path = libraries/drivers/rplidar
+	url = https://github.com/adafruit/Adafruit_CircuitPython_RPLIDAR.git
diff --git a/libraries/drivers/rplidar b/libraries/drivers/rplidar
new file mode 160000
index 00000000..1641d62f
--- /dev/null
+++ b/libraries/drivers/rplidar
@@ -0,0 +1 @@
+Subproject commit 1641d62f57b6f08711e718e58fea0afaef948178