diff --git a/examples/darwin-framework-tool/commands/pairing/Commands.h b/examples/darwin-framework-tool/commands/pairing/Commands.h
index ffda27b9e3d348..16c57b5d4ddd0f 100644
--- a/examples/darwin-framework-tool/commands/pairing/Commands.h
+++ b/examples/darwin-framework-tool/commands/pairing/Commands.h
@@ -22,6 +22,7 @@
 
 #include "OpenCommissioningWindowCommand.h"
 #include "PairingCommandBridge.h"
+#include "PrepareCommissioningCommand.h"
 
 class PairCode : public PairingCommandBridge
 {
@@ -71,6 +72,7 @@ void registerCommandsPairing(Commands & commands)
         make_unique<PairBleThread>(),
         make_unique<Unpair>(),
         make_unique<OpenCommissioningWindowCommand>(),
+        make_unique<PrepareCommissioningCommand>(),
     };
 
     commands.Register(clusterName, clusterCommands);
diff --git a/examples/darwin-framework-tool/commands/pairing/PrepareCommissioningCommand.h b/examples/darwin-framework-tool/commands/pairing/PrepareCommissioningCommand.h
new file mode 100644
index 00000000000000..c1fd777cf1146a
--- /dev/null
+++ b/examples/darwin-framework-tool/commands/pairing/PrepareCommissioningCommand.h
@@ -0,0 +1,53 @@
+/*
+ *   Copyright (c) 2022 Project CHIP Authors
+ *   All rights reserved.
+ *
+ *   Licensed under the Apache License, Version 2.0 (the "License");
+ *   you may not use this file except in compliance with the License.
+ *   You may obtain a copy of the License at
+ *
+ *       http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *   Unless required by applicable law or agreed to in writing, software
+ *   distributed under the License is distributed on an "AS IS" BASIS,
+ *   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *   See the License for the specific language governing permissions and
+ *   limitations under the License.
+ */
+
+#pragma once
+
+#import <Matter/Matter.h>
+
+#include "../common/CHIPCommandBridge.h"
+
+#import "MTRError_Utils.h"
+
+class PrepareCommissioningCommand : public CHIPCommandBridge {
+public:
+    PrepareCommissioningCommand()
+        : CHIPCommandBridge("prepare-commissioning")
+    {
+    }
+
+protected:
+    /////////// CHIPCommandBridge Interface /////////
+    CHIP_ERROR RunCommand() override
+    {
+        auto * controller = CurrentCommissioner();
+        NSError * error;
+        if (![controller prepareCommissioningSession:&error]) {
+            auto err = MTRErrorToCHIPErrorCode(error);
+            SetCommandExitStatus(err);
+            return err;
+        }
+
+        // In interactive mode, we don't want to block the UI until the end of `GetWaitDuration`. So returns early.
+        if (IsInteractive()) {
+            SetCommandExitStatus(CHIP_NO_ERROR);
+        }
+        return CHIP_NO_ERROR;
+    }
+
+    chip::System::Clock::Timeout GetWaitDuration() const override { return chip::System::Clock::Seconds16(30); }
+};
diff --git a/src/darwin/Framework/CHIP/MTRDeviceController.h b/src/darwin/Framework/CHIP/MTRDeviceController.h
index 6a2616a53eeb00..5bff3ebb76aaae 100644
--- a/src/darwin/Framework/CHIP/MTRDeviceController.h
+++ b/src/darwin/Framework/CHIP/MTRDeviceController.h
@@ -102,6 +102,16 @@ typedef void (^MTRDeviceConnectionCallback)(MTRBaseDevice * _Nullable device, NS
 - (nullable MTRBaseDevice *)deviceBeingCommissionedWithNodeID:(NSNumber *)nodeID
                                                         error:(NSError * __autoreleasing *)error MTR_NEWLY_AVAILABLE;
 
+/**
+ * Prepare the controller for setting up a commissioning session.
+ *
+ * This method is intended to be used when it is known that a setting up a commissioning session
+ * will happen soon.
+ * For example it may ask different subsystems to look for useful informations onto the network
+ * ahead of commissioning that may then be re-used during commissioning.
+ */
+- (BOOL)prepareCommissioningSession:(NSError * __autoreleasing *)error MTR_NEWLY_AVAILABLE;
+
 /**
  * Controllers are created via the MTRDeviceControllerFactory object.
  */
diff --git a/src/darwin/Framework/CHIP/MTRDeviceController.mm b/src/darwin/Framework/CHIP/MTRDeviceController.mm
index c9446ffcbbde0b..38abb49b1439f2 100644
--- a/src/darwin/Framework/CHIP/MTRDeviceController.mm
+++ b/src/darwin/Framework/CHIP/MTRDeviceController.mm
@@ -64,6 +64,7 @@
 static NSString * const kErrorPairDevice = @"Failure while pairing the device";
 static NSString * const kErrorUnpairDevice = @"Failure while unpairing the device";
 static NSString * const kErrorStopPairing = @"Failure while trying to stop the pairing process";
+static NSString * const kErrorPrepareCommissioning = @"Failure while trying to prepare the commissioning process";
 static NSString * const kErrorOpenPairingWindow = @"Open Pairing Window failed";
 static NSString * const kErrorGetPairedDevice = @"Failure while trying to retrieve a paired device";
 static NSString * const kErrorNotRunning = @"Controller is not running. Call startup first.";
@@ -493,6 +494,19 @@ - (BOOL)cancelCommissioningForNodeID:(NSNumber *)nodeID error:(NSError * __autor
     return success;
 }
 
+- (BOOL)prepareCommissioningSession:(NSError * __autoreleasing *)error
+{
+    __block BOOL success = NO;
+    dispatch_sync(_chipWorkQueue, ^{
+        VerifyOrReturn([self checkIsRunning:error]);
+
+        auto errorCode = chip::DeviceLayer::PlatformMgrImpl().PrepareCommissioning();
+        success = ![MTRDeviceController checkForError:errorCode logMsg:kErrorPrepareCommissioning error:error];
+    });
+
+    return success;
+}
+
 - (MTRBaseDevice *)deviceBeingCommissionedWithNodeID:(NSNumber *)nodeID error:(NSError * __autoreleasing *)error
 {
     VerifyOrReturnValue([self checkIsRunning:error], nil);
diff --git a/src/platform/Darwin/BLEManagerImpl.cpp b/src/platform/Darwin/BLEManagerImpl.cpp
index 97853f783fd2d4..0472f1908d9cbb 100644
--- a/src/platform/Darwin/BLEManagerImpl.cpp
+++ b/src/platform/Darwin/BLEManagerImpl.cpp
@@ -88,6 +88,16 @@ void BLEManagerImpl::_Shutdown()
     }
 }
 
+CHIP_ERROR BLEManagerImpl::PrepareConnection()
+{
+    if (mConnectionDelegate)
+    {
+        static_cast<BleConnectionDelegateImpl *>(mConnectionDelegate)->PrepareConnection();
+        return CHIP_NO_ERROR;
+    }
+    return CHIP_ERROR_INCORRECT_STATE;
+}
+
 bool BLEManagerImpl::_IsAdvertisingEnabled()
 {
     ChipLogDetail(DeviceLayer, "%s", __FUNCTION__);
diff --git a/src/platform/Darwin/BLEManagerImpl.h b/src/platform/Darwin/BLEManagerImpl.h
index 049df893702466..9d54d7d01a967f 100644
--- a/src/platform/Darwin/BLEManagerImpl.h
+++ b/src/platform/Darwin/BLEManagerImpl.h
@@ -42,6 +42,7 @@ class BLEManagerImpl final : public BLEManager, private BleLayer
 
 public:
     CHIP_ERROR ConfigureBle(uint32_t aNodeId, bool aIsCentral) { return CHIP_NO_ERROR; }
+    CHIP_ERROR PrepareConnection();
 
 private:
     // ===== Members that implement the BLEManager internal interface.
diff --git a/src/platform/Darwin/BleConnectionDelegate.h b/src/platform/Darwin/BleConnectionDelegate.h
index 1a7057ee43c48a..072145e47f466a 100644
--- a/src/platform/Darwin/BleConnectionDelegate.h
+++ b/src/platform/Darwin/BleConnectionDelegate.h
@@ -26,6 +26,7 @@ namespace Internal {
 class BleConnectionDelegateImpl : public Ble::BleConnectionDelegate
 {
 public:
+    void PrepareConnection();
     virtual void NewConnection(Ble::BleLayer * bleLayer, void * appState, const SetupDiscriminator & connDiscriminator);
     virtual CHIP_ERROR CancelConnection();
 };
diff --git a/src/platform/Darwin/BleConnectionDelegateImpl.mm b/src/platform/Darwin/BleConnectionDelegateImpl.mm
index e5cfd39778b9f8..aa891b1fc7ae4a 100644
--- a/src/platform/Darwin/BleConnectionDelegateImpl.mm
+++ b/src/platform/Darwin/BleConnectionDelegateImpl.mm
@@ -38,7 +38,8 @@
 
 using namespace chip::Ble;
 
-constexpr uint64_t kScanningTimeoutInSeconds = 60;
+constexpr uint64_t kScanningWithDiscriminatorTimeoutInSeconds = 60;
+constexpr uint64_t kScanningWithoutDiscriminatorTimeoutInSeconds = 120;
 
 @interface BleConnection : NSObject <CBCentralManagerDelegate, CBPeripheralDelegate>
 
@@ -48,6 +49,8 @@ @interface BleConnection : NSObject <CBCentralManagerDelegate, CBPeripheralDeleg
 @property (strong, nonatomic) CBPeripheral * peripheral;
 @property (strong, nonatomic) CBUUID * shortServiceUUID;
 @property (nonatomic, readonly, nullable) dispatch_source_t timer;
+@property (strong, nonatomic) NSMutableDictionary * cachedPeripherals;
+@property (unsafe_unretained, nonatomic) bool hasDeviceDiscriminator;
 @property (unsafe_unretained, nonatomic) bool found;
 @property (unsafe_unretained, nonatomic) chip::SetupDiscriminator deviceDiscriminator;
 @property (unsafe_unretained, nonatomic) void * appState;
@@ -59,6 +62,9 @@ - (id)initWithDiscriminator:(const chip::SetupDiscriminator &)deviceDiscriminato
 - (void)setBleLayer:(chip::Ble::BleLayer *)bleLayer;
 - (void)start;
 - (void)stop;
+- (BOOL)hasDiscriminator;
+- (void)updateWithDiscriminator:(const chip::SetupDiscriminator &)deviceDiscriminator;
+- (void)update;
 
 @end
 
@@ -71,6 +77,18 @@ - (void)stop;
             Ble::BleLayer * bleLayer, void * appState, const SetupDiscriminator & deviceDiscriminator)
         {
             ChipLogProgress(Ble, "%s", __FUNCTION__);
+
+            // If the previous connection delegate was a scan without a discriminator, just reuse it instead of
+            // creating a brand new connection but update the discriminator and the ble layer members.
+            if (ble and ![ble hasDiscriminator]) {
+                [ble setBleLayer:bleLayer];
+                ble.appState = appState;
+                ble.onConnectionComplete = OnConnectionComplete;
+                ble.onConnectionError = OnConnectionError;
+                [ble updateWithDiscriminator:deviceDiscriminator];
+                return;
+            }
+
             CancelConnection();
             ble = [[BleConnection alloc] initWithDiscriminator:deviceDiscriminator];
             [ble setBleLayer:bleLayer];
@@ -80,6 +98,24 @@ - (void)stop;
             ble.centralManager = [ble.centralManager initWithDelegate:ble queue:ble.workQueue];
         }
 
+        void BleConnectionDelegateImpl::PrepareConnection()
+        {
+            ChipLogProgress(Ble, "%s", __FUNCTION__);
+
+            // If the previous connection delegate was a scan without a discriminator, just reuse it instead of
+            // creating a brand new connection but clear the cache and reset the timer.
+            if (ble and ![ble hasDiscriminator]) {
+                [ble update];
+                return;
+            }
+
+            CancelConnection();
+            ble = [[BleConnection alloc] init];
+            ble.onConnectionComplete = OnConnectionComplete;
+            ble.onConnectionError = OnConnectionError;
+            ble.centralManager = [ble.centralManager initWithDelegate:ble queue:ble.workQueue];
+        }
+
         CHIP_ERROR BleConnectionDelegateImpl::CancelConnection()
         {
             ChipLogProgress(Ble, "%s", __FUNCTION__);
@@ -98,32 +134,56 @@ @interface BleConnection ()
 
 @implementation BleConnection
 
-- (id)initWithDiscriminator:(const chip::SetupDiscriminator &)deviceDiscriminator
+- (id)init
 {
     self = [super init];
     if (self) {
         self.shortServiceUUID = [UUIDHelper GetShortestServiceUUID:&chip::Ble::CHIP_BLE_SVC_ID];
-        _deviceDiscriminator = deviceDiscriminator;
         _workQueue = dispatch_queue_create("com.chip.ble.work_queue", DISPATCH_QUEUE_SERIAL);
         _chipWorkQueue = chip::DeviceLayer::PlatformMgrImpl().GetWorkQueue();
         _timer = dispatch_source_create(DISPATCH_SOURCE_TYPE_TIMER, 0, 0, _workQueue);
         _centralManager = [CBCentralManager alloc];
         _found = false;
+        _cachedPeripherals = [[NSMutableDictionary alloc] init];
+        _hasDeviceDiscriminator = false;
 
         dispatch_source_set_event_handler(_timer, ^{
             [self stop];
             [self dispatchConnectionError:BLE_ERROR_APP_CLOSED_CONNECTION];
         });
-        dispatch_source_set_timer(
-            _timer, dispatch_walltime(nullptr, kScanningTimeoutInSeconds * NSEC_PER_SEC), DISPATCH_TIME_FOREVER, 5 * NSEC_PER_SEC);
+
+        [self resetTimer];
+    }
+
+    return self;
+}
+
+- (id)initWithDiscriminator:(const chip::SetupDiscriminator &)deviceDiscriminator
+{
+    self = [self init];
+    if (self) {
+        _deviceDiscriminator = deviceDiscriminator;
+        _hasDeviceDiscriminator = true;
+        [self resetTimer];
     }
 
     return self;
 }
 
+- (void)resetTimer
+{
+    auto timeout =
+        [self hasDiscriminator] ? kScanningWithDiscriminatorTimeoutInSeconds : kScanningWithoutDiscriminatorTimeoutInSeconds;
+    dispatch_source_set_timer(_timer, dispatch_walltime(nullptr, timeout * NSEC_PER_SEC), DISPATCH_TIME_FOREVER, 5 * NSEC_PER_SEC);
+}
+
 // All our callback dispatch must happen on _chipWorkQueue
 - (void)dispatchConnectionError:(CHIP_ERROR)error
 {
+    if (self.onConnectionError == nil) {
+        return;
+    }
+
     dispatch_async(_chipWorkQueue, ^{
         self.onConnectionError(self.appState, error);
     });
@@ -131,6 +191,10 @@ - (void)dispatchConnectionError:(CHIP_ERROR)error
 
 - (void)dispatchConnectionComplete:(CBPeripheral *)peripheral
 {
+    if (self.onConnectionComplete == nil) {
+        return;
+    }
+
     dispatch_async(_chipWorkQueue, ^{
         self.onConnectionComplete(self.appState, (__bridge void *) peripheral);
     });
@@ -183,10 +247,15 @@ - (void)centralManager:(CBCentralManager *)central
                     uint8_t opCode = bytes[0];
                     uint16_t discriminator = (bytes[1] | (bytes[2] << 8)) & 0xfff;
 
-                    if ((opCode == 0 || opCode == 1) && [self checkDiscriminator:discriminator]) {
-                        ChipLogProgress(Ble, "Connecting to device with discriminator: %d", discriminator);
-                        [self connect:peripheral];
-                        [self stopScanning];
+                    if (opCode == 0 || opCode == 1) {
+                        if (![self hasDiscriminator]) {
+                            ChipLogProgress(Ble, "Storing device %p with discriminator: %d", peripheral, discriminator);
+                            _cachedPeripherals[@(discriminator)] = peripheral;
+                        } else if ([self checkDiscriminator:discriminator]) {
+                            ChipLogProgress(Ble, "Connecting to device %p with discriminator: %d", peripheral, discriminator);
+                            [self connect:peripheral];
+                            [self stopScanning];
+                        }
                     }
                 }
 
@@ -196,6 +265,11 @@ - (void)centralManager:(CBCentralManager *)central
     }
 }
 
+- (BOOL)hasDiscriminator
+{
+    return _hasDeviceDiscriminator;
+}
+
 - (BOOL)checkDiscriminator:(uint16_t)discriminator
 {
     return _deviceDiscriminator.MatchesLongDiscriminator(discriminator);
@@ -343,6 +417,8 @@ - (void)stop
 {
     [self stopScanning];
     [self disconnect];
+    [_cachedPeripherals removeAllObjects];
+    _cachedPeripherals = nil;
     _centralManager.delegate = nil;
     _centralManager = nil;
     _peripheral = nil;
@@ -386,6 +462,38 @@ - (void)disconnect
     _peripheral = nil;
 }
 
+- (void)update
+{
+    [_cachedPeripherals removeAllObjects];
+    [self resetTimer];
+}
+
+- (void)updateWithDiscriminator:(const chip::SetupDiscriminator &)deviceDiscriminator
+{
+    _deviceDiscriminator = deviceDiscriminator;
+    _hasDeviceDiscriminator = true;
+
+    CBPeripheral * peripheral = nil;
+    if (deviceDiscriminator.IsShortDiscriminator()) {
+        for (NSNumber * longDiscriminator in _cachedPeripherals) {
+            if ([self checkDiscriminator:[longDiscriminator unsignedShortValue]]) {
+                peripheral = _cachedPeripherals[longDiscriminator];
+                break;
+            }
+        }
+    } else {
+        peripheral = _cachedPeripherals[@(deviceDiscriminator.GetLongValue())];
+    }
+
+    if (peripheral) {
+        ChipLogProgress(Ble, "Connecting to cached device: %p", peripheral);
+        [self connect:peripheral];
+        [self stopScanning];
+    } else {
+        [self resetTimer];
+    }
+}
+
 /**
  * private static method to copy service and characteristic UUIDs from CBCharacteristic to a pair of ChipBleUUID objects.
  * this is used in calls into Chip layer to decouple it from CoreBluetooth
diff --git a/src/platform/Darwin/PlatformManagerImpl.cpp b/src/platform/Darwin/PlatformManagerImpl.cpp
index 0f92904b08c697..656f5d13ccc942 100644
--- a/src/platform/Darwin/PlatformManagerImpl.cpp
+++ b/src/platform/Darwin/PlatformManagerImpl.cpp
@@ -161,5 +161,14 @@ bool PlatformManagerImpl::_IsChipStackLockedByCurrentThread() const
 };
 #endif
 
+CHIP_ERROR PlatformManagerImpl::PrepareCommissioning()
+{
+    auto error = CHIP_NO_ERROR;
+#if CONFIG_NETWORK_LAYER_BLE
+    error = Internal::BLEMgrImpl().PrepareConnection();
+#endif // CONFIG_NETWORK_LAYER_BLE
+    return error;
+}
+
 } // namespace DeviceLayer
 } // namespace chip
diff --git a/src/platform/Darwin/PlatformManagerImpl.h b/src/platform/Darwin/PlatformManagerImpl.h
index e8b8decf2fcfb3..354ee517e18b88 100644
--- a/src/platform/Darwin/PlatformManagerImpl.h
+++ b/src/platform/Darwin/PlatformManagerImpl.h
@@ -54,6 +54,8 @@ class PlatformManagerImpl final : public PlatformManager, public Internal::Gener
         return mWorkQueue;
     }
 
+    CHIP_ERROR PrepareCommissioning();
+
     System::Clock::Timestamp GetStartTime() { return mStartTime; }
 
 private: