diff --git a/os/net/mac/tsch/tsch-rpl.c b/os/net/mac/tsch/tsch-rpl.c
index 951648d91..e8db94b57 100644
--- a/os/net/mac/tsch/tsch-rpl.c
+++ b/os/net/mac/tsch/tsch-rpl.c
@@ -136,5 +136,13 @@ tsch_rpl_callback_parent_switch(rpl_parent_t *old, rpl_parent_t *new)
         rpl_parent_get_ipaddr(new)));
   }
 }
+/*---------------------------------------------------------------------------*/
+/* Check RPL has joined DODAG.
+ * To use, set #define TSCH_RPL_CHECK_DODAG_JOINED tsch_rpl_check_dodag_joined */
+int
+tsch_rpl_check_dodag_joined(void)
+{
+  return NETSTACK_ROUTING.node_has_joined();
+}
 #endif /* UIP_CONF_IPV6_RPL */
 /** @} */
diff --git a/os/net/mac/tsch/tsch-rpl.h b/os/net/mac/tsch/tsch-rpl.h
index 23a148db8..95412e3d2 100644
--- a/os/net/mac/tsch/tsch-rpl.h
+++ b/os/net/mac/tsch/tsch-rpl.h
@@ -79,6 +79,12 @@ void tsch_rpl_callback_new_dio_interval(clock_time_t dio_interval);
  * \param new The new RPL parent
  */
 void tsch_rpl_callback_parent_switch(rpl_parent_t *old, rpl_parent_t *new);
+/**
+ * \brief Check RPL has joined DODAG.
+ * To use, set TSCH_RPL_CHECK_DODAG_JOINED tsch_rpl_check_dodag_joined
+ * \return 1 if joined, 0 otherwise
+ */
+int tsch_rpl_check_dodag_joined(void);
 
 #endif /* __TSCH_RPL_H__ */
 /** @} */