diff --git a/packages/@aws-cdk-testing/framework-integ/test/aws-stepfunctions-tasks/test/http/integ.invoke.ts b/packages/@aws-cdk-testing/framework-integ/test/aws-stepfunctions-tasks/test/http/integ.invoke.ts
index 6fdd0cc46498f..ae34a41b7fc28 100644
--- a/packages/@aws-cdk-testing/framework-integ/test/aws-stepfunctions-tasks/test/http/integ.invoke.ts
+++ b/packages/@aws-cdk-testing/framework-integ/test/aws-stepfunctions-tasks/test/http/integ.invoke.ts
@@ -65,7 +65,7 @@ const connection = new events.Connection(stack, 'Connection', {
 
 const httpInvokeTask = new tasks.HttpInvoke(stack, 'Invoke HTTP Endpoint', {
   apiRoot: api.urlForPath('/'),
-  apiEndpoint: sfn.TaskInput.fromText('/test'),
+  apiEndpoint: sfn.TaskInput.fromJsonPathAt('/test'),
   connection,
   method: sfn.TaskInput.fromText('GET'),
 });
diff --git a/packages/aws-cdk-lib/aws-stepfunctions-tasks/README.md b/packages/aws-cdk-lib/aws-stepfunctions-tasks/README.md
index 9f0a9dc800a48..6e0d09543b740 100644
--- a/packages/aws-cdk-lib/aws-stepfunctions-tasks/README.md
+++ b/packages/aws-cdk-lib/aws-stepfunctions-tasks/README.md
@@ -1375,7 +1375,7 @@ const connection = new events.Connection(this, 'Connection', {
 
 new tasks.HttpInvoke(this, 'Invoke HTTP API', {
   apiRoot: 'https://api.example.com',
-  apiEndpoint: sfn.TaskInput.fromText('path/to/resource'),
+  apiEndpoint: sfn.TaskInput.fromText(sfn.JsonPath.format('resource/{}/details', sfn.JsonPath.stringAt('$.resourceId'))),
   body: sfn.TaskInput.fromObject({ foo: 'bar' }),
   connection,
   headers: sfn.TaskInput.fromObject({ 'Content-Type': 'application/json' }),
diff --git a/packages/aws-cdk-lib/aws-stepfunctions-tasks/lib/http/invoke.ts b/packages/aws-cdk-lib/aws-stepfunctions-tasks/lib/http/invoke.ts
index 04a29b774b12b..f6b2cfee5ad5b 100644
--- a/packages/aws-cdk-lib/aws-stepfunctions-tasks/lib/http/invoke.ts
+++ b/packages/aws-cdk-lib/aws-stepfunctions-tasks/lib/http/invoke.ts
@@ -166,7 +166,7 @@ export class HttpInvoke extends sfn.TaskStateBase {
 
   private buildTaskParameters() {
     const parameters: TaskParameters = {
-      ApiEndpoint: `${this.props.apiRoot}/${this.props.apiEndpoint.value}`,
+      ApiEndpoint: sfn.JsonPath.format('{}/{}', this.props.apiRoot, this.props.apiEndpoint.value),
       Authentication: {
         ConnectionArn: this.props.connection.connectionArn,
       },
diff --git a/packages/aws-cdk-lib/aws-stepfunctions-tasks/test/http/invoke.test.ts b/packages/aws-cdk-lib/aws-stepfunctions-tasks/test/http/invoke.test.ts
index e4ee324015363..0dd57ab5ca4b6 100644
--- a/packages/aws-cdk-lib/aws-stepfunctions-tasks/test/http/invoke.test.ts
+++ b/packages/aws-cdk-lib/aws-stepfunctions-tasks/test/http/invoke.test.ts
@@ -30,7 +30,10 @@ describe('AWS::StepFunctions::Tasks::HttpInvoke', () => {
   beforeEach(() => {
     stack = new cdk.Stack();
     connection = new events.Connection(stack, 'Connection', {
-      authorization: events.Authorization.basic('username', cdk.SecretValue.unsafePlainText('password')),
+      authorization: events.Authorization.basic(
+        'username',
+        cdk.SecretValue.unsafePlainText('password'),
+      ),
       connectionName: 'testConnection',
     });
   });
@@ -44,11 +47,12 @@ describe('AWS::StepFunctions::Tasks::HttpInvoke', () => {
     });
 
     expectTaskWithParameters(task, {
-      ApiEndpoint: 'https://api.example.com/path/to/resource',
-      Authentication: {
+      'ApiEndpoint.$':
+        "States.Format('{}/{}', 'https://api.example.com', 'path/to/resource')",
+      'Authentication': {
         ConnectionArn: stack.resolve(connection.connectionArn),
       },
-      Method: 'POST',
+      'Method': 'POST',
     });
   });
 
@@ -68,22 +72,22 @@ describe('AWS::StepFunctions::Tasks::HttpInvoke', () => {
     });
 
     expectTaskWithParameters(task, {
-      ApiEndpoint: 'https://api.example.com/path/to/resource',
-      Authentication: {
+      'ApiEndpoint.$': "States.Format('{}/{}', 'https://api.example.com', 'path/to/resource')",
+      'Authentication': {
         ConnectionArn: stack.resolve(connection.connectionArn),
       },
-      Method: 'POST',
-      Headers: {
+      'Method': 'POST',
+      'Headers': {
         'custom-header': 'custom-value',
         'Content-Type': 'application/x-www-form-urlencoded',
       },
-      Transform: {
+      'Transform': {
         RequestBodyEncoding: 'URL_ENCODED',
         RequestEncodingOptions: {
           ArrayFormat: lib.URLEncodingFormat.BRACKETS,
         },
       },
-      QueryParameters: {
+      'QueryParameters': {
         foo: 'bar',
       },
     });
@@ -99,15 +103,15 @@ describe('AWS::StepFunctions::Tasks::HttpInvoke', () => {
     });
 
     expectTaskWithParameters(task, {
-      ApiEndpoint: 'https://api.example.com/path/to/resource',
-      Authentication: {
+      'ApiEndpoint.$': "States.Format('{}/{}', 'https://api.example.com', 'path/to/resource')",
+      'Authentication': {
         ConnectionArn: stack.resolve(connection.connectionArn),
       },
-      Method: 'POST',
-      Headers: {
+      'Method': 'POST',
+      'Headers': {
         'Content-Type': 'application/x-www-form-urlencoded',
       },
-      Transform: {
+      'Transform': {
         RequestBodyEncoding: 'URL_ENCODED',
       },
     });
@@ -123,11 +127,30 @@ describe('AWS::StepFunctions::Tasks::HttpInvoke', () => {
     });
 
     expectTaskWithParameters(task, {
-      ApiEndpoint: 'https://api.example.com/path/to/resource',
-      Authentication: {
+      'ApiEndpoint.$': "States.Format('{}/{}', 'https://api.example.com', 'path/to/resource')",
+      'Authentication': {
         ConnectionArn: stack.resolve(connection.connectionArn),
       },
-      Method: 'POST',
+      'Method': 'POST',
+    });
+  });
+
+  test('invoke with formatted apiEndpoint', () => {
+    const task = new lib.HttpInvoke(stack, 'Task', {
+      apiRoot: 'https://api.example.com',
+      apiEndpoint: sfn.TaskInput.fromText(
+        sfn.JsonPath.format('resource/{}/details', sfn.JsonPath.stringAt('$.resourceId')),
+      ),
+      connection,
+      method: sfn.TaskInput.fromText('POST'),
+    });
+    expectTaskWithParameters(task, {
+      'ApiEndpoint.$':
+        "States.Format('{}/{}', 'https://api.example.com', States.Format('resource/{}/details', $.resourceId))",
+      'Authentication': {
+        ConnectionArn: stack.resolve(connection.connectionArn),
+      },
+      'Method': 'POST',
     });
   });
 });