diff --git a/Cargo.toml b/Cargo.toml
index 600d195fa6ce1..ae769ee50f652 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1274,6 +1274,16 @@ description = "Iterates and prints gamepad input and connection events"
 category = "Input"
 wasm = false
 
+[[example]]
+name = "gamepad_rumble"
+path = "examples/input/gamepad_rumble.rs"
+
+[package.metadata.example.gamepad_rumble]
+name = "Gamepad Rumble"
+description = "Shows how to rumble a gamepad using force feedback"
+category = "Input"
+wasm = false
+
 [[example]]
 name = "keyboard_input"
 path = "examples/input/keyboard_input.rs"
diff --git a/crates/bevy_gilrs/Cargo.toml b/crates/bevy_gilrs/Cargo.toml
index db9629bedf1e3..28800939fe055 100644
--- a/crates/bevy_gilrs/Cargo.toml
+++ b/crates/bevy_gilrs/Cargo.toml
@@ -13,7 +13,10 @@ keywords = ["bevy"]
 bevy_app = { path = "../bevy_app", version = "0.11.0-dev" }
 bevy_ecs = { path = "../bevy_ecs", version = "0.11.0-dev" }
 bevy_input = { path = "../bevy_input", version = "0.11.0-dev" }
+bevy_log = { path = "../bevy_log", version = "0.11.0-dev" }
 bevy_utils = { path = "../bevy_utils", version = "0.11.0-dev" }
+bevy_time = { path = "../bevy_time", version = "0.11.0-dev" }
 
 # other
 gilrs = "0.10.1"
+thiserror = "1.0"
\ No newline at end of file
diff --git a/crates/bevy_gilrs/src/lib.rs b/crates/bevy_gilrs/src/lib.rs
index 1377a0aa7973e..1afcf515f6613 100644
--- a/crates/bevy_gilrs/src/lib.rs
+++ b/crates/bevy_gilrs/src/lib.rs
@@ -2,17 +2,23 @@
 
 mod converter;
 mod gilrs_system;
+mod rumble;
 
-use bevy_app::{App, Plugin, PreStartup, PreUpdate};
+use bevy_app::{App, Plugin, PostUpdate, PreStartup, PreUpdate};
 use bevy_ecs::prelude::*;
 use bevy_input::InputSystem;
 use bevy_utils::tracing::error;
 use gilrs::GilrsBuilder;
 use gilrs_system::{gilrs_event_startup_system, gilrs_event_system};
+use rumble::{play_gilrs_rumble, RunningRumbleEffects};
 
 #[derive(Default)]
 pub struct GilrsPlugin;
 
+/// Updates the running gamepad rumble effects.
+#[derive(Debug, PartialEq, Eq, Clone, Hash, SystemSet)]
+pub struct RumbleSystem;
+
 impl Plugin for GilrsPlugin {
     fn build(&self, app: &mut App) {
         match GilrsBuilder::new()
@@ -22,8 +28,10 @@ impl Plugin for GilrsPlugin {
         {
             Ok(gilrs) => {
                 app.insert_non_send_resource(gilrs)
+                    .init_non_send_resource::<RunningRumbleEffects>()
                     .add_systems(PreStartup, gilrs_event_startup_system)
-                    .add_systems(PreUpdate, gilrs_event_system.before(InputSystem));
+                    .add_systems(PreUpdate, gilrs_event_system.before(InputSystem))
+                    .add_systems(PostUpdate, play_gilrs_rumble.in_set(RumbleSystem));
             }
             Err(err) => error!("Failed to start Gilrs. {}", err),
         }
diff --git a/crates/bevy_gilrs/src/rumble.rs b/crates/bevy_gilrs/src/rumble.rs
new file mode 100644
index 0000000000000..3f3e8aa4c7f18
--- /dev/null
+++ b/crates/bevy_gilrs/src/rumble.rs
@@ -0,0 +1,177 @@
+//! Handle user specified rumble request events.
+use bevy_ecs::{
+    prelude::{EventReader, Res},
+    system::NonSendMut,
+};
+use bevy_input::gamepad::{GamepadRumbleIntensity, GamepadRumbleRequest};
+use bevy_log::{debug, warn};
+use bevy_time::Time;
+use bevy_utils::{Duration, HashMap};
+use gilrs::{
+    ff::{self, BaseEffect, BaseEffectType, Repeat, Replay},
+    GamepadId, Gilrs,
+};
+use thiserror::Error;
+
+use crate::converter::convert_gamepad_id;
+
+/// A rumble effect that is currently in effect.
+struct RunningRumble {
+    /// Duration from app startup when this effect will be finished
+    deadline: Duration,
+    /// A ref-counted handle to the specific force-feedback effect
+    ///
+    /// Dropping it will cause the effect to stop
+    #[allow(dead_code)]
+    effect: ff::Effect,
+}
+
+#[derive(Error, Debug)]
+enum RumbleError {
+    #[error("gamepad not found")]
+    GamepadNotFound,
+    #[error("gilrs error while rumbling gamepad: {0}")]
+    GilrsError(#[from] ff::Error),
+}
+
+/// Contains the gilrs rumble effects that are currently running for each gamepad
+#[derive(Default)]
+pub(crate) struct RunningRumbleEffects {
+    /// If multiple rumbles are running at the same time, their resulting rumble
+    /// will be the saturated sum of their strengths up until [`u16::MAX`]
+    rumbles: HashMap<GamepadId, Vec<RunningRumble>>,
+}
+
+/// gilrs uses magnitudes from 0 to [`u16::MAX`], while ours go from `0.0` to `1.0` ([`f32`])
+fn to_gilrs_magnitude(ratio: f32) -> u16 {
+    (ratio * u16::MAX as f32) as u16
+}
+
+fn get_base_effects(
+    GamepadRumbleIntensity {
+        weak_motor,
+        strong_motor,
+    }: GamepadRumbleIntensity,
+    duration: Duration,
+) -> Vec<ff::BaseEffect> {
+    let mut effects = Vec::new();
+    if strong_motor > 0. {
+        effects.push(BaseEffect {
+            kind: BaseEffectType::Strong {
+                magnitude: to_gilrs_magnitude(strong_motor),
+            },
+            scheduling: Replay {
+                play_for: duration.into(),
+                ..Default::default()
+            },
+            ..Default::default()
+        });
+    }
+    if weak_motor > 0. {
+        effects.push(BaseEffect {
+            kind: BaseEffectType::Strong {
+                magnitude: to_gilrs_magnitude(weak_motor),
+            },
+            ..Default::default()
+        });
+    }
+    effects
+}
+
+fn handle_rumble_request(
+    running_rumbles: &mut RunningRumbleEffects,
+    gilrs: &mut Gilrs,
+    rumble: GamepadRumbleRequest,
+    current_time: Duration,
+) -> Result<(), RumbleError> {
+    let gamepad = rumble.gamepad();
+
+    let (gamepad_id, _) = gilrs
+        .gamepads()
+        .find(|(pad_id, _)| convert_gamepad_id(*pad_id) == gamepad)
+        .ok_or(RumbleError::GamepadNotFound)?;
+
+    match rumble {
+        GamepadRumbleRequest::Stop { .. } => {
+            // `ff::Effect` uses RAII, dropping = deactivating
+            running_rumbles.rumbles.remove(&gamepad_id);
+        }
+        GamepadRumbleRequest::Add {
+            duration,
+            intensity,
+            ..
+        } => {
+            let mut effect_builder = ff::EffectBuilder::new();
+
+            for effect in get_base_effects(intensity, duration) {
+                effect_builder.add_effect(effect);
+                effect_builder.repeat(Repeat::For(duration.into()));
+            }
+
+            let effect = effect_builder.gamepads(&[gamepad_id]).finish(gilrs)?;
+            effect.play()?;
+
+            let gamepad_rumbles = running_rumbles.rumbles.entry(gamepad_id).or_default();
+            let deadline = current_time + duration;
+            gamepad_rumbles.push(RunningRumble { deadline, effect });
+        }
+    }
+
+    Ok(())
+}
+pub(crate) fn play_gilrs_rumble(
+    time: Res<Time>,
+    mut gilrs: NonSendMut<Gilrs>,
+    mut requests: EventReader<GamepadRumbleRequest>,
+    mut running_rumbles: NonSendMut<RunningRumbleEffects>,
+) {
+    let current_time = time.raw_elapsed();
+    // Remove outdated rumble effects.
+    for rumbles in running_rumbles.rumbles.values_mut() {
+        // `ff::Effect` uses RAII, dropping = deactivating
+        rumbles.retain(|RunningRumble { deadline, .. }| *deadline >= current_time);
+    }
+    running_rumbles
+        .rumbles
+        .retain(|_gamepad, rumbles| !rumbles.is_empty());
+
+    // Add new effects.
+    for rumble in requests.iter().cloned() {
+        let gamepad = rumble.gamepad();
+        match handle_rumble_request(&mut running_rumbles, &mut gilrs, rumble, current_time) {
+            Ok(()) => {}
+            Err(RumbleError::GilrsError(err)) => {
+                if let ff::Error::FfNotSupported(_) = err {
+                    debug!("Tried to rumble {gamepad:?}, but it doesn't support force feedback");
+                } else {
+                    warn!(
+                    "Tried to handle rumble request for {gamepad:?} but an error occurred: {err}"
+                    );
+                }
+            }
+            Err(RumbleError::GamepadNotFound) => {
+                warn!("Tried to handle rumble request {gamepad:?} but it doesn't exist!");
+            }
+        };
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::to_gilrs_magnitude;
+
+    #[test]
+    fn magnitude_conversion() {
+        assert_eq!(to_gilrs_magnitude(1.0), u16::MAX);
+        assert_eq!(to_gilrs_magnitude(0.0), 0);
+
+        // bevy magnitudes of 2.0 don't really make sense, but just make sure
+        // they convert to something sensible in gilrs anyway.
+        assert_eq!(to_gilrs_magnitude(2.0), u16::MAX);
+
+        // negative bevy magnitudes don't really make sense, but just make sure
+        // they convert to something sensible in gilrs anyway.
+        assert_eq!(to_gilrs_magnitude(-1.0), 0);
+        assert_eq!(to_gilrs_magnitude(-0.1), 0);
+    }
+}
diff --git a/crates/bevy_input/src/gamepad.rs b/crates/bevy_input/src/gamepad.rs
index 44af96d89b15e..7f9dfc1b5b42c 100644
--- a/crates/bevy_input/src/gamepad.rs
+++ b/crates/bevy_input/src/gamepad.rs
@@ -5,6 +5,7 @@ use bevy_ecs::{
     system::{Res, ResMut, Resource},
 };
 use bevy_reflect::{std_traits::ReflectDefault, FromReflect, Reflect};
+use bevy_utils::Duration;
 use bevy_utils::{tracing::info, HashMap};
 use thiserror::Error;
 
@@ -1240,6 +1241,127 @@ const ALL_AXIS_TYPES: [GamepadAxisType; 6] = [
     GamepadAxisType::RightZ,
 ];
 
+/// The intensity at which a gamepad's force-feedback motors may rumble.
+#[derive(Clone, Copy, Debug, PartialEq)]
+pub struct GamepadRumbleIntensity {
+    /// The rumble intensity of the strong gamepad motor
+    ///
+    /// Ranges from 0.0 to 1.0
+    ///
+    /// By convention, this is usually a low-frequency motor on the left-hand
+    /// side of the gamepad, though it may vary across platforms and hardware.
+    pub strong_motor: f32,
+    /// The rumble intensity of the weak gamepad motor
+    ///
+    /// Ranges from 0.0 to 1.0
+    ///
+    /// By convention, this is usually a high-frequency motor on the right-hand
+    /// side of the gamepad, though it may vary across platforms and hardware.
+    pub weak_motor: f32,
+}
+
+impl GamepadRumbleIntensity {
+    /// Rumble both gamepad motors at maximum intensity
+    pub const MAX: Self = GamepadRumbleIntensity {
+        strong_motor: 1.0,
+        weak_motor: 1.0,
+    };
+
+    /// Rumble the weak motor at maximum intensity
+    pub const WEAK_MAX: Self = GamepadRumbleIntensity {
+        strong_motor: 0.0,
+        weak_motor: 1.0,
+    };
+
+    /// Rumble the strong motor at maximum intensity
+    pub const STRONG_MAX: Self = GamepadRumbleIntensity {
+        strong_motor: 1.0,
+        weak_motor: 0.0,
+    };
+
+    /// Creates a new rumble intensity with weak motor intensity set to the given value
+    ///
+    /// Clamped within the 0 to 1 range
+    pub const fn weak_motor(intensity: f32) -> Self {
+        Self {
+            weak_motor: intensity,
+            strong_motor: 0.0,
+        }
+    }
+
+    /// Creates a new rumble intensity with strong motor intensity set to the given value
+    ///
+    /// Clamped within the 0 to 1 range
+    pub const fn strong_motor(intensity: f32) -> Self {
+        Self {
+            strong_motor: intensity,
+            weak_motor: 0.0,
+        }
+    }
+}
+
+/// An event that controls force-feedback rumbling of a [`Gamepad`]
+///
+/// # Notes
+///
+/// Does nothing if the gamepad or platform does not support rumble.
+///
+/// # Example
+///
+/// ```
+/// # use bevy_input::gamepad::{Gamepad, Gamepads, GamepadRumbleRequest, GamepadRumbleIntensity};
+/// # use bevy_ecs::prelude::{EventWriter, Res};
+/// # use bevy_utils::Duration;
+/// fn rumble_gamepad_system(
+///     mut rumble_requests: EventWriter<GamepadRumbleRequest>,
+///     gamepads: Res<Gamepads>
+/// ) {
+///     for gamepad in gamepads.iter() {
+///         rumble_requests.send(GamepadRumbleRequest::Add {
+///             gamepad,
+///             intensity: GamepadRumbleIntensity::MAX,
+///             duration: Duration::from_secs_f32(0.5),
+///         });
+///     }
+/// }
+/// ```
+#[doc(alias = "haptic feedback")]
+#[doc(alias = "force feedback")]
+#[doc(alias = "vibration")]
+#[doc(alias = "vibrate")]
+#[derive(Clone)]
+pub enum GamepadRumbleRequest {
+    /// Add a rumble to the given gamepad.
+    ///
+    /// Simultaneous rumble effects add up to the sum of their strengths.
+    ///
+    /// Consequently, if two rumbles at half intensity are added at the same
+    /// time, their intensities will be added up, and the controller will rumble
+    /// at full intensity until one of the rumbles finishes, then the rumble
+    /// will continue at the intensity of the remaining event.
+    ///
+    /// To replace an existing rumble, send a [`GamepadRumbleRequest::Stop`] event first.
+    Add {
+        /// How long the gamepad should rumble
+        duration: Duration,
+        /// How intense the rumble should be
+        intensity: GamepadRumbleIntensity,
+        /// The gamepad to rumble
+        gamepad: Gamepad,
+    },
+    /// Stop all running rumbles on the given [`Gamepad`]
+    Stop { gamepad: Gamepad },
+}
+
+impl GamepadRumbleRequest {
+    /// Get the [`Gamepad`] associated with this request
+    pub fn gamepad(&self) -> Gamepad {
+        match self {
+            Self::Add { gamepad, .. } | Self::Stop { gamepad } => *gamepad,
+        }
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use crate::gamepad::{AxisSettingsError, ButtonSettingsError};
diff --git a/crates/bevy_input/src/lib.rs b/crates/bevy_input/src/lib.rs
index dfa64429f9709..94ba5c771fd85 100644
--- a/crates/bevy_input/src/lib.rs
+++ b/crates/bevy_input/src/lib.rs
@@ -39,8 +39,8 @@ use gamepad::{
     gamepad_axis_event_system, gamepad_button_event_system, gamepad_connection_system,
     gamepad_event_system, AxisSettings, ButtonAxisSettings, ButtonSettings, Gamepad, GamepadAxis,
     GamepadAxisChangedEvent, GamepadAxisType, GamepadButton, GamepadButtonChangedEvent,
-    GamepadButtonType, GamepadConnection, GamepadConnectionEvent, GamepadEvent, GamepadSettings,
-    Gamepads,
+    GamepadButtonType, GamepadConnection, GamepadConnectionEvent, GamepadEvent,
+    GamepadRumbleRequest, GamepadSettings, Gamepads,
 };
 
 #[cfg(feature = "serialize")]
@@ -72,6 +72,7 @@ impl Plugin for InputPlugin {
             .add_event::<GamepadButtonChangedEvent>()
             .add_event::<GamepadAxisChangedEvent>()
             .add_event::<GamepadEvent>()
+            .add_event::<GamepadRumbleRequest>()
             .init_resource::<GamepadSettings>()
             .init_resource::<Gamepads>()
             .init_resource::<Input<GamepadButton>>()
diff --git a/examples/README.md b/examples/README.md
index 585583cd18151..fce3e507cf2aa 100644
--- a/examples/README.md
+++ b/examples/README.md
@@ -239,6 +239,7 @@ Example | Description
 [Char Input Events](../examples/input/char_input_events.rs) | Prints out all chars as they are inputted
 [Gamepad Input](../examples/input/gamepad_input.rs) | Shows handling of gamepad input, connections, and disconnections
 [Gamepad Input Events](../examples/input/gamepad_input_events.rs) | Iterates and prints gamepad input and connection events
+[Gamepad Rumble](../examples/input/gamepad_rumble.rs) | Shows how to rumble a gamepad using force feedback
 [Keyboard Input](../examples/input/keyboard_input.rs) | Demonstrates handling a key press/release
 [Keyboard Input Events](../examples/input/keyboard_input_events.rs) | Prints out all keyboard events
 [Keyboard Modifiers](../examples/input/keyboard_modifiers.rs) | Demonstrates using key modifiers (ctrl, shift)
diff --git a/examples/input/gamepad_rumble.rs b/examples/input/gamepad_rumble.rs
new file mode 100644
index 0000000000000..5ea4d6f0e7bf0
--- /dev/null
+++ b/examples/input/gamepad_rumble.rs
@@ -0,0 +1,78 @@
+//! Shows how to trigger force-feedback, making gamepads rumble when buttons are
+//! pressed.
+
+use bevy::{
+    input::gamepad::{GamepadRumbleIntensity, GamepadRumbleRequest},
+    prelude::*,
+    utils::Duration,
+};
+
+fn main() {
+    App::new()
+        .add_plugins(DefaultPlugins)
+        .add_systems(Update, gamepad_system)
+        .run();
+}
+
+fn gamepad_system(
+    gamepads: Res<Gamepads>,
+    button_inputs: Res<Input<GamepadButton>>,
+    mut rumble_requests: EventWriter<GamepadRumbleRequest>,
+) {
+    for gamepad in gamepads.iter() {
+        let button_pressed = |button| {
+            button_inputs.just_pressed(GamepadButton {
+                gamepad,
+                button_type: button,
+            })
+        };
+
+        if button_pressed(GamepadButtonType::North) {
+            info!(
+                "North face button: strong (low-frequency) with low intensity for rumble for 5 seconds. Press multiple times to increase intensity."
+            );
+            rumble_requests.send(GamepadRumbleRequest::Add {
+                gamepad,
+                intensity: GamepadRumbleIntensity::strong_motor(0.1),
+                duration: Duration::from_secs(5),
+            });
+        }
+
+        if button_pressed(GamepadButtonType::East) {
+            info!("East face button: maximum rumble on both motors for 5 seconds");
+            rumble_requests.send(GamepadRumbleRequest::Add {
+                gamepad,
+                duration: Duration::from_secs(5),
+                intensity: GamepadRumbleIntensity::MAX,
+            });
+        }
+
+        if button_pressed(GamepadButtonType::South) {
+            info!("South face button: low-intensity rumble on the weak motor for 0.5 seconds");
+            rumble_requests.send(GamepadRumbleRequest::Add {
+                gamepad,
+                duration: Duration::from_secs_f32(0.5),
+                intensity: GamepadRumbleIntensity::weak_motor(0.25),
+            });
+        }
+
+        if button_pressed(GamepadButtonType::West) {
+            info!("West face button: custom rumble intensity for 5 second");
+            rumble_requests.send(GamepadRumbleRequest::Add {
+                gamepad,
+                intensity: GamepadRumbleIntensity {
+                    // intensity low-frequency motor, usually on the left-hand side
+                    strong_motor: 0.5,
+                    // intensity of high-frequency motor, usually on the right-hand side
+                    weak_motor: 0.25,
+                },
+                duration: Duration::from_secs(5),
+            });
+        }
+
+        if button_pressed(GamepadButtonType::Start) {
+            info!("Start button: Interrupt the current rumble");
+            rumble_requests.send(GamepadRumbleRequest::Stop { gamepad });
+        }
+    }
+}