diff --git a/esp-hal/CHANGELOG.md b/esp-hal/CHANGELOG.md
index 65fd89f3abe..3cd1dd8f7ba 100644
--- a/esp-hal/CHANGELOG.md
+++ b/esp-hal/CHANGELOG.md
@@ -9,6 +9,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+- Added the dynamic_output_gpio example
 - Added new `Io::new_no_bind_interrupt` constructor (#1861)
 
 ### Changed
diff --git a/examples/src/bin/dynamic_output_gpio.rs b/examples/src/bin/dynamic_output_gpio.rs
new file mode 100644
index 00000000000..3ca7007a62a
--- /dev/null
+++ b/examples/src/bin/dynamic_output_gpio.rs
@@ -0,0 +1,68 @@
+//! Iterates over an array of LEDs, demonstrating how to use AnyPin and Flex to drive GPIOs.
+//!
+//! The following wiring is assumed:
+//! - LED => GPIO0
+//! - LED => GPIO1
+//! - LED => GPIO2
+
+//% CHIPS: esp32c6
+
+#![no_std]
+#![no_main]
+
+use esp_backtrace as _;
+use esp_hal::{
+    clock::ClockControl,
+    delay::Delay,
+    gpio::{any_pin::AnyPin, Flex, Io},
+    peripherals::Peripherals,
+    prelude::*,
+    system::SystemControl,
+};
+
+pub struct FlexIo<'a> {
+    pub gpio0: Flex<'a, AnyPin<'a>>,
+    pub gpio1: Flex<'a, AnyPin<'a>>,
+    pub gpio2: Flex<'a, AnyPin<'a>>,
+}
+
+impl<'a> FlexIo<'a> {
+    pub fn new(io: Io) -> Self {
+        FlexIo {
+            gpio0: Flex::new(AnyPin::new(io.pins.gpio0)),
+            gpio1: Flex::new(AnyPin::new(io.pins.gpio1)),
+            gpio2: Flex::new(AnyPin::new(io.pins.gpio2)),
+        }
+    }
+    pub fn get_pin(&mut self, index: u32) -> &mut Flex<'a, AnyPin<'a>> {
+        match index {
+            0 => &mut self.gpio0,
+            1 => &mut self.gpio1,
+            2 => &mut self.gpio2,
+            _ => panic!("No such pin"),
+        }
+    }
+}
+
+#[entry]
+fn main() -> ! {
+    let peripherals = Peripherals::take();
+    let system = SystemControl::new(peripherals.SYSTEM);
+    let clocks = ClockControl::boot_defaults(system.clock_control).freeze();
+
+    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+    let delay = Delay::new(&clocks);
+
+    let mut flexIo = FlexIo::new(io);
+    // You can also use set_as_input() to use those GPIOs easily as input too
+    flexIo.gpio0.set_as_output();
+    flexIo.gpio1.set_as_output();
+    flexIo.gpio2.set_as_output();
+
+    loop {
+        for n in 0..3 {
+            flexIo.get_pin(n).toggle();
+            delay.delay_millis(250);
+        }
+    }
+}