diff --git a/include/uxr/client/profile/multithread/multithread.h b/include/uxr/client/profile/multithread/multithread.h
index 189b4a7df..11a21a882 100644
--- a/include/uxr/client/profile/multithread/multithread.h
+++ b/include/uxr/client/profile/multithread/multithread.h
@@ -32,6 +32,8 @@ struct uxrSession;
 #elif defined(PLATFORM_NAME_FREERTOS)
 #include "FreeRTOS.h"
 #include "semphr.h"
+#elif defined(PLATFORM_NAME_RPIPICO)
+#include "pico/mutex.h"
 #elif defined(UCLIENT_PLATFORM_ZEPHYR)
 #elif defined(UCLIENT_PLATFORM_POSIX)
 #include <pthread.h>
@@ -45,6 +47,8 @@ typedef struct uxrMutex
 #elif defined(PLATFORM_NAME_FREERTOS)
     SemaphoreHandle_t impl;
     StaticSemaphore_t xMutexBuffer;
+#elif defined(PLATFORM_NAME_RPIPICO)
+    recursive_mutex_t impl;
 #elif defined(UCLIENT_PLATFORM_ZEPHYR)
     struct k_mutex impl;
 #elif defined(UCLIENT_PLATFORM_POSIX)
diff --git a/src/c/profile/multithread/multithread.c b/src/c/profile/multithread/multithread.c
index 1a8b1d1c0..ffb4d7ae8 100644
--- a/src/c/profile/multithread/multithread.c
+++ b/src/c/profile/multithread/multithread.c
@@ -12,6 +12,8 @@ void uxr_init_lock(
 {
 #if defined(PLATFORM_NAME_FREERTOS)
     mutex->impl = xSemaphoreCreateRecursiveMutexStatic( &mutex->xMutexBuffer );
+#elif defined(PLATFORM_NAME_RPIPICO)
+    recursive_mutex_init(&mutex->impl);
 #elif defined(UCLIENT_PLATFORM_ZEPHYR)
     k_mutex_init(&mutex->impl);
 #elif defined(UCLIENT_PLATFORM_POSIX)
@@ -29,6 +31,8 @@ void uxr_lock(
 {
 #if defined(PLATFORM_NAME_FREERTOS)
     xSemaphoreTakeRecursive(mutex->impl, portMAX_DELAY);
+#elif defined(PLATFORM_NAME_RPIPICO)
+    recursive_mutex_enter_blocking(&mutex->impl);
 #elif defined(UCLIENT_PLATFORM_ZEPHYR)
     k_mutex_lock(&mutex->impl, K_FOREVER);
 #elif defined(UCLIENT_PLATFORM_POSIX)
@@ -43,6 +47,8 @@ void uxr_unlock(
 {
 #if defined(PLATFORM_NAME_FREERTOS)
     xSemaphoreGiveRecursive(mutex->impl);
+#elif defined(PLATFORM_NAME_RPIPICO)
+    recursive_mutex_exit(&mutex->impl);
 #elif defined(UCLIENT_PLATFORM_ZEPHYR)
     k_mutex_unlock(&mutex->impl);
 #elif defined(UCLIENT_PLATFORM_POSIX)