diff --git a/src/controller/AutoCommissioner.cpp b/src/controller/AutoCommissioner.cpp
index 42b39a10c7ab48..16ef292ea2d595 100644
--- a/src/controller/AutoCommissioner.cpp
+++ b/src/controller/AutoCommissioner.cpp
@@ -1,6 +1,6 @@
 /*
  *
- *    Copyright (c) 2021 Project CHIP Authors
+ *    Copyright (c) 2021-2024 Project CHIP Authors
  *    All rights reserved.
  *
  *    Licensed under the Apache License, Version 2.0 (the "License");
@@ -343,13 +343,25 @@ CommissioningStage AutoCommissioner::GetNextCommissioningStageInternal(Commissio
     case CommissioningStage::kArmFailsafe:
         return CommissioningStage::kConfigRegulatory;
     case CommissioningStage::kConfigRegulatory:
+        if (mDeviceCommissioningInfo.requiresTCAcknowledgements)
+        {
+            return CommissioningStage::kConfigureTCAcknowledgments;
+        }
+        else if (mDeviceCommissioningInfo.requiresUTC)
+        {
+            return CommissioningStage::kConfigureUTCTime;
+        }
+        else
+        {
+            return CommissioningStage::kSendPAICertificateRequest;
+        }
+    case CommissioningStage::kConfigureTCAcknowledgments:
         if (mDeviceCommissioningInfo.requiresUTC)
         {
             return CommissioningStage::kConfigureUTCTime;
         }
         else
         {
-            // Time cluster is not supported, move right to DA
             return CommissioningStage::kSendPAICertificateRequest;
         }
     case CommissioningStage::kConfigureUTCTime:
diff --git a/src/controller/CHIPDeviceController.cpp b/src/controller/CHIPDeviceController.cpp
index af0a66ea834da3..b97a8606a328fc 100644
--- a/src/controller/CHIPDeviceController.cpp
+++ b/src/controller/CHIPDeviceController.cpp
@@ -1,6 +1,6 @@
 /*
  *
- *    Copyright (c) 2020-2022 Project CHIP Authors
+ *    Copyright (c) 2020-2024 Project CHIP Authors
  *    Copyright (c) 2013-2017 Nest Labs, Inc.
  *    All rights reserved.
  *
@@ -2426,6 +2426,22 @@ void DeviceCommissioner::OnSetRegulatoryConfigResponse(
     commissioner->CommissioningStageComplete(err, report);
 }
 
+void DeviceCommissioner::OnSetTCAcknowledgementsResponse(
+    void * context, const GeneralCommissioning::Commands::SetTCAcknowledgementsResponse::DecodableType & data)
+{
+    CommissioningDelegate::CommissioningReport report;
+    CHIP_ERROR err = CHIP_NO_ERROR;
+
+    ChipLogProgress(Controller, "Received SetTCAcknowledgements response errorCode=%u", to_underlying(data.errorCode));
+    if (data.errorCode != GeneralCommissioning::CommissioningErrorEnum::kOk)
+    {
+        err = CHIP_ERROR_INTERNAL;
+        report.Set<CommissioningErrorInfo>(data.errorCode);
+    }
+    DeviceCommissioner * commissioner = static_cast<DeviceCommissioner *>(context);
+    commissioner->CommissioningStageComplete(err, report);
+}
+
 void DeviceCommissioner::OnSetTimeZoneResponse(void * context,
                                                const TimeSynchronization::Commands::SetTimeZoneResponse::DecodableType & data)
 {
@@ -2874,6 +2890,23 @@ void DeviceCommissioner::PerformCommissioningStep(DeviceProxy * proxy, Commissio
         }
     }
     break;
+    case CommissioningStage::kConfigureTCAcknowledgments: {
+        ChipLogProgress(Controller, "Setting Terms and Conditions");
+
+        GeneralCommissioning::Commands::SetTCAcknowledgements::Type request;
+        request.TCUserResponse = 0x1;
+        request.TCVersion      = 0x1;
+        CHIP_ERROR err =
+            SendCommissioningCommand(proxy, request, OnSetTCAcknowledgementsResponse, OnBasicFailure, endpoint, timeout);
+        if (err != CHIP_NO_ERROR)
+        {
+            ChipLogError(Controller, "Failed to send SetTCAcknowledgements command: %" CHIP_ERROR_FORMAT, err.Format());
+            CommissioningStageComplete(err);
+            return;
+        }
+
+        break;
+    }
     case CommissioningStage::kSendPAICertificateRequest: {
         ChipLogProgress(Controller, "Sending request for PAI certificate");
         CHIP_ERROR err = SendCertificateChainRequestCommand(proxy, CertificateType::kPAI, timeout);
diff --git a/src/controller/CHIPDeviceController.h b/src/controller/CHIPDeviceController.h
index dd7b5bc31eec46..d6effac7ad4434 100644
--- a/src/controller/CHIPDeviceController.h
+++ b/src/controller/CHIPDeviceController.h
@@ -1,6 +1,6 @@
 /*
  *
- *    Copyright (c) 2020-2022 Project CHIP Authors
+ *    Copyright (c) 2020-2024 Project CHIP Authors
  *    Copyright (c) 2013-2017 Nest Labs, Inc.
  *    All rights reserved.
  *
@@ -893,6 +893,9 @@ class DLL_EXPORT DeviceCommissioner : public DeviceController,
     static void OnSetRegulatoryConfigResponse(
         void * context,
         const chip::app::Clusters::GeneralCommissioning::Commands::SetRegulatoryConfigResponse::DecodableType & data);
+    static void OnSetTCAcknowledgementsResponse(
+        void * context,
+        const chip::app::Clusters::GeneralCommissioning::Commands::SetTCAcknowledgementsResponse::DecodableType & data);
     static void OnSetUTCError(void * context, CHIP_ERROR error);
     static void
     OnSetTimeZoneResponse(void * context,
diff --git a/src/controller/CommissioningDelegate.h b/src/controller/CommissioningDelegate.h
index 4b1040fcd79690..5c0ed2910750a8 100644
--- a/src/controller/CommissioningDelegate.h
+++ b/src/controller/CommissioningDelegate.h
@@ -38,6 +38,7 @@ enum CommissioningStage : uint8_t
     kReadCommissioningInfo2,     ///< Query SupportsConcurrentConnection, ICD state, check for matching fabric
     kArmFailsafe,                ///< Send ArmFailSafe (0x30:0) command to the device
     kConfigRegulatory,           ///< Send SetRegulatoryConfig (0x30:2) command to the device
+    kConfigureTCAcknowledgments, ///< Send SetTCAcknowledgements (0x30:6) command to the device
     kConfigureUTCTime,           ///< SetUTCTime if the DUT has a time cluster
     kConfigureTimeZone,          ///< Configure a time zone if one is required and available
     kConfigureDSTOffset,         ///< Configure DST offset if one is required and available
@@ -720,6 +721,7 @@ struct ReadCommissioningInfo
     BasicClusterInfo basic;
     GeneralCommissioningInfo general;
     bool requiresUTC                  = false;
+    bool requiresTCAcknowledgements   = true;
     bool requiresTimeZone             = false;
     bool requiresDefaultNTP           = false;
     bool requiresTrustedTimeSource    = false;