diff --git a/archs/arm-openocd.py b/archs/arm-openocd.py
index 1d082ed..fa969ed 100644
--- a/archs/arm-openocd.py
+++ b/archs/arm-openocd.py
@@ -6,6 +6,11 @@
 Author: Grazfather
 """
 
+from typing import Optional
+
+import gdb
+
+
 class ARMOpenOCD(ARM):
     arch = "ARMOpenOCD"
     aliases = ("ARMOpenOCD",)
@@ -18,3 +23,147 @@ def supports_gdb_arch(arch: str) -> Optional[bool]:
         if "arm" in arch and arch.endswith("-m"):
             return True
         return None
+
+    @staticmethod
+    def maps():
+        yield from GefMemoryManager.parse_info_mem()
+
+
+@register
+class OpenOCDRemoteCommand(GenericCommand):
+    """This command is intended to replace `gef-remote` to connect to an
+    OpenOCD-hosted gdbserver. It uses a special session manager that knows how
+    to connect and manage the server."""
+
+    _cmdline_ = "gef-openocd-remote"
+    _syntax_  = f"{_cmdline_} [OPTIONS] HOST PORT"
+    _example_ = [f"{_cmdline_} --file /path/to/binary.elf localhost 3333",
+                 f"{_cmdline_} localhost 3333"]
+
+    def __init__(self) -> None:
+        super().__init__(prefix=False)
+        return
+
+    @parse_arguments({"host": "", "port": ""}, {"--file": ""})
+    def do_invoke(self, _: List[str], **kwargs: Any) -> None:
+        if gef.session.remote is not None:
+            err("You're already in a remote session. Close it first before opening a new one...")
+            return
+
+        # argument check
+        args: argparse.Namespace = kwargs["arguments"]
+        if not args.host or not args.port:
+            err("Missing parameters")
+            return
+
+        # Try to establish the remote session, throw on error
+        # Set `.remote_initializing` to True here - `GefRemoteSessionManager` invokes code which
+        # calls `is_remote_debug` which checks if `remote_initializing` is True or `.remote` is None
+        # This prevents some spurious errors being thrown during startup
+        gef.session.remote_initializing = True
+        session = GefOpenOCDRemoteSessionManager(args.host, args.port, args.file)
+
+        dbg(f"[remote] initializing remote session with {session.target} under {session.root}")
+
+        # Connect can return false if it wants us to disconnect
+        if not session.connect():
+            gef.session.remote = None
+            gef.session.remote_initializing = False
+            return
+        if not session.setup():
+            gef.session.remote = None
+            gef.session.remote_initializing = False
+            raise EnvironmentError("Failed to setup remote target")
+
+        gef.session.remote_initializing = False
+        gef.session.remote = session
+        reset_all_caches()
+        gdb.execute("context")
+        return
+
+
+# We CANNOT use the normal session manager because it assumes we have a PID
+class GefOpenOCDRemoteSessionManager(GefRemoteSessionManager):
+    """This subclass of GefRemoteSessionManager specially handles the
+    intricacies involved with connecting to an OpenOCD-hosted GDB server.
+    Specifically, it does not have the concept of PIDs which we need to work
+    around."""
+    def __init__(self, host, port, file: str="") -> None:
+        self.__host = host
+        self.__port = port
+        self.__file = file
+        self.__local_root_fd = tempfile.TemporaryDirectory()
+        self.__local_root_path = pathlib.Path(self.__local_root_fd.name)
+
+    def __str__(self) -> str:
+        return f"OpenOCDRemoteSessionManager(='{self.__tty}', file='{self.__file}', attach={self.__attach})"
+
+    def close(self) -> None:
+        self.__local_root_fd.cleanup()
+        try:
+            gef_on_new_unhook(self.remote_objfile_event_handler)
+            gef_on_new_hook(new_objfile_handler)
+        except Exception as e:
+            warn(f"Exception while restoring local context: {str(e)}")
+        return
+
+    @property
+    def target(self) -> str:
+        return f"{self.__host}:{self.__port}"
+
+    @property
+    def root(self) -> pathlib.Path:
+        return self.__local_root_path.absolute()
+
+    def sync(self, src: str, dst: Optional[str] = None) -> bool:
+        # We cannot sync from this target
+        return None
+
+    @property
+    def file(self) -> Optional[pathlib.Path]:
+        if self.__file:
+            return pathlib.Path(self.__file).expanduser()
+        return None
+
+    def connect(self) -> bool:
+        """Connect to remote target. If in extended mode, also attach to the given PID."""
+        # before anything, register our new hook to download files from the remote target
+        dbg(f"[remote] Installing new objfile handlers")
+        try:
+            gef_on_new_unhook(new_objfile_handler)
+        except SystemError:
+            # the default objfile handler might already have been removed, ignore failure
+            pass
+
+        gef_on_new_hook(self.remote_objfile_event_handler)
+
+        # Connect
+        with DisableContextOutputContext():
+            self._gdb_execute(f"target extended-remote {self.target}")
+
+        try:
+            with DisableContextOutputContext():
+                if self.file:
+                    self._gdb_execute(f"file {self.file}")
+        except Exception as e:
+            err(f"Failed to connect to {self.target}: {e}")
+            # a failure will trigger the cleanup, deleting our hook
+            return False
+
+        return True
+
+    def setup(self) -> bool:
+        dbg(f"Setting up as remote session")
+
+        # refresh gef to consider the binary
+        reset_all_caches()
+        if self.file:
+            gef.binary = Elf(self.file)
+        # We'd like to set this earlier, but we can't because of this bug
+        # https://sourceware.org/bugzilla/show_bug.cgi?id=31303
+        reset_architecture("ARMOpenOCD")
+        return True
+
+    def _gdb_execute(self, cmd):
+        dbg(f"[remote] Executing '{cmd}'")
+        gdb.execute(cmd)