diff --git a/datafusion/core/src/dataframe/mod.rs b/datafusion/core/src/dataframe/mod.rs
index ed3dc5ea838b9..55d3695a68d7a 100644
--- a/datafusion/core/src/dataframe/mod.rs
+++ b/datafusion/core/src/dataframe/mod.rs
@@ -1380,6 +1380,107 @@ impl DataFrame {
         })
     }
 
+    /// Join this `DataFrame` to the closest eligible row in `right`.
+    ///
+    /// Every left row is emitted exactly once, with `NULL` values for the right
+    /// columns when no eligible row exists. `NULL` ordered values and equality
+    /// keys never match. When present, `on` must contain equality comparisons
+    /// combined with `AND`. `match_condition` must be a single `<`, `<=`, `>`,
+    /// or `>=` comparison whose left and right operands reference this
+    /// `DataFrame` and `right`, respectively.
+    ///
+    /// # Example
+    /// ```
+    /// # use datafusion::arrow::array::record_batch;
+    /// # use datafusion::error::Result;
+    /// # use datafusion::prelude::*;
+    /// # #[tokio::main]
+    /// # async fn main() -> Result<()> {
+    /// # let ctx = SessionContext::new();
+    /// # let trades = ctx.read_batch(record_batch!(
+    /// #     ("symbol", Utf8, ["A"]),
+    /// #     ("ts", Int64, [4])
+    /// # )?)?.alias("trades")?;
+    /// # let prices = ctx.read_batch(record_batch!(
+    /// #     ("symbol", Utf8, ["A"]),
+    /// #     ("ts", Int64, [2]),
+    /// #     ("price", Int32, [20])
+    /// # )?)?.alias("prices")?;
+    /// // For each trade, find the latest price at or before its timestamp.
+    /// let joined = trades.join_asof(
+    ///     prices,
+    ///     Some(col("trades.symbol").eq(col("prices.symbol"))),
+    ///     col("trades.ts").gt_eq(col("prices.ts")),
+    /// )?;
+    /// # let _ = joined;
+    /// # Ok(())
+    /// # }
+    /// ```
+    pub fn join_asof(
+        self,
+        right: DataFrame,
+        on: Option<Expr>,
+        match_condition: Expr,
+    ) -> Result<DataFrame> {
+        let plan = LogicalPlanBuilder::from(self.plan)
+            .asof_join_on(right.plan, on, match_condition)?
+            .build()?;
+        Ok(DataFrame {
+            session_state: self.session_state,
+            plan,
+            projection_requires_validation: true,
+        })
+    }
+
+    /// Join this `DataFrame` to the closest eligible row in `right` using
+    /// same-named equality keys.
+    ///
+    /// This has the same matching behavior as [`join_asof`](Self::join_asof),
+    /// but accepts columns that appear under the same name on both inputs.
+    ///
+    /// # Example
+    /// ```
+    /// # use datafusion::arrow::array::record_batch;
+    /// # use datafusion::error::Result;
+    /// # use datafusion::prelude::*;
+    /// # #[tokio::main]
+    /// # async fn main() -> Result<()> {
+    /// # let ctx = SessionContext::new();
+    /// # let trades = ctx.read_batch(record_batch!(
+    /// #     ("symbol", Utf8, ["A"]),
+    /// #     ("ts", Int64, [4])
+    /// # )?)?.alias("trades")?;
+    /// # let prices = ctx.read_batch(record_batch!(
+    /// #     ("symbol", Utf8, ["A"]),
+    /// #     ("ts", Int64, [2]),
+    /// #     ("price", Int32, [20])
+    /// # )?)?.alias("prices")?;
+    /// // Same-named equality keys can be specified once.
+    /// let joined = trades.join_asof_using(
+    ///     prices,
+    ///     vec![Column::from_name("symbol")],
+    ///     col("trades.ts").gt_eq(col("prices.ts")),
+    /// )?;
+    /// # let _ = joined;
+    /// # Ok(())
+    /// # }
+    /// ```
+    pub fn join_asof_using(
+        self,
+        right: DataFrame,
+        using_keys: Vec<Column>,
+        match_condition: Expr,
+    ) -> Result<DataFrame> {
+        let plan = LogicalPlanBuilder::from(self.plan)
+            .asof_join_using(right.plan, using_keys, match_condition)?
+            .build()?;
+        Ok(DataFrame {
+            session_state: self.session_state,
+            plan,
+            projection_requires_validation: true,
+        })
+    }
+
     /// Repartition a DataFrame based on a logical partitioning scheme.
     ///
     /// # Example
diff --git a/datafusion/core/tests/dataframe/mod.rs b/datafusion/core/tests/dataframe/mod.rs
index 4e32ea31169ab..ec2c23b531a19 100644
--- a/datafusion/core/tests/dataframe/mod.rs
+++ b/datafusion/core/tests/dataframe/mod.rs
@@ -1521,6 +1521,75 @@ async fn join() -> Result<()> {
     Ok(())
 }
 
+#[tokio::test]
+async fn join_asof() -> Result<()> {
+    let ctx = SessionContext::new();
+    let left = ctx
+        .read_batch(record_batch!(
+            ("symbol", Utf8, ["A", "A", "B"]),
+            ("ts", Int64, [1, 4, 2]),
+            ("trade_id", Int32, [1, 2, 3])
+        )?)?
+        .alias("trades")?;
+    let right = ctx
+        .read_batch(record_batch!(
+            ("symbol", Utf8, ["A", "A", "B"]),
+            ("ts", Int64, [2, 4, 1]),
+            ("price", Int32, [20, 40, 101])
+        )?)?
+        .alias("prices")?;
+
+    let results = left
+        .clone()
+        .join_asof(
+            right.clone(),
+            Some(col("trades.symbol").eq(col("prices.symbol"))),
+            col("trades.ts").gt_eq(col("prices.ts")),
+        )?
+        .select(vec![col("trade_id"), col("price")])?
+        .sort(vec![col("trade_id").sort(true, true)])?
+        .collect()
+        .await?;
+
+    assert_batches_eq!(
+        [
+            "+----------+-------+",
+            "| trade_id | price |",
+            "+----------+-------+",
+            "| 1        |       |",
+            "| 2        | 40    |",
+            "| 3        | 101   |",
+            "+----------+-------+",
+        ],
+        &results
+    );
+
+    let results = left
+        .join_asof_using(
+            right,
+            vec![datafusion_common::Column::from_name("symbol")],
+            col("trades.ts").gt_eq(col("prices.ts")),
+        )?
+        .select(vec![col("symbol"), col("trade_id"), col("price")])?
+        .sort(vec![col("trade_id").sort(true, true)])?
+        .collect()
+        .await?;
+
+    assert_batches_eq!(
+        [
+            "+--------+----------+-------+",
+            "| symbol | trade_id | price |",
+            "+--------+----------+-------+",
+            "| A      | 1        |       |",
+            "| A      | 2        | 40    |",
+            "| B      | 3        | 101   |",
+            "+--------+----------+-------+",
+        ],
+        &results
+    );
+    Ok(())
+}
+
 #[tokio::test]
 async fn join_coercion_unnamed() -> Result<()> {
     let ctx = SessionContext::new();