diff --git a/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c b/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
old mode 100755
new mode 100644
index f34e9ec..9000336
--- a/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
+++ b/FreeRTOS-Plus-POSIX/source/FreeRTOS_POSIX_pthread.c
@@ -473,6 +473,38 @@ int pthread_join( pthread_t pthread,
     return iStatus;
 }
 
+/*-----------------------------------------------------------*/
+int pthread_cancel( pthread_t pthread )
+{
+    int iStatus = 0;
+    pthread_internal_t * pxThread = ( pthread_internal_t * ) pthread;
+
+    /* Threads may already be successfully ended elsewhere and pending full deletion in idle task. */
+    /* Note the the xJoinBarrier is a binary sem, so no new queue items are made once its already given */
+    if( pxThread && pxThread->xTaskHandle && ( eDeleted != eTaskGetState( pxThread->xTaskHandle ) ) )
+    {
+        if( pxThread == pthread_self() )
+        {
+            prvExitThread();
+        }
+        else
+        {
+            if( pthreadIS_JOINABLE( pxThread->xAttr.usSchedPriorityDetachState ) )
+            {
+                xSemaphoreGive( ( SemaphoreHandle_t ) &pxThread->xJoinBarrier );
+                vTaskSuspend( pxThread->xTaskHandle );
+            }
+            else
+            {
+                vTaskDelete( pxThread->xTaskHandle );
+                vPortFree( pxThread );
+            }
+        }
+    }
+
+    return iStatus;
+}
+
 /*-----------------------------------------------------------*/
 
 pthread_t pthread_self( void )
diff --git a/include/FreeRTOS_POSIX/pthread.h b/include/FreeRTOS_POSIX/pthread.h
old mode 100755
new mode 100644
index 77f949a..0e1a0eb
--- a/include/FreeRTOS_POSIX/pthread.h
+++ b/include/FreeRTOS_POSIX/pthread.h
@@ -233,6 +233,15 @@ int pthread_barrier_init( pthread_barrier_t * barrier,
  */
 int pthread_barrier_wait( pthread_barrier_t * barrier );
 
+/**
+ * @brief Request cancellation of thread.
+ *
+ * @see https://pubs.opengroup.org/onlinepubs/9699919799/functions/pthread_cancel.html
+ *
+ * @retval 0 - Upon successful completion.
+ */
+int pthread_cancel( pthread_t thread );
+
 /**
  * @brief Thread creation.
  *