diff --git a/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts/generate_mbed_image.py b/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts/generate_mbed_image.py
new file mode 100644
index 00000000000..fb7000386ba
--- /dev/null
+++ b/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts/generate_mbed_image.py
@@ -0,0 +1,197 @@
+#!/usr/bin/python
+# Copyright (c) 2017-2021 Arm Limited
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from os.path import abspath, basename, dirname, splitext, isdir
+from os.path import join as path_join
+import re
+import subprocess
+import argparse
+
+SCRIPT_DIR = dirname(abspath(__file__))
+MBED_OS_ROOT = abspath(path_join(SCRIPT_DIR, os.pardir, os.pardir, os.pardir, os.pardir, os.pardir, os.pardir))
+
+def sign_and_merge_tfm_bin(target_name, target_path, non_secure_bin, secure_bin):
+
+    assert os.path.isdir(target_path)
+    assert os.path.isfile(secure_bin)
+    assert os.path.isfile(non_secure_bin)
+
+    build_dir = dirname(non_secure_bin)
+    tempdir = path_join(build_dir, 'temp')
+    if not isdir(tempdir):
+        os.makedirs(tempdir)
+    flash_layout = path_join(target_path, 'partition', 'flash_layout.h')
+    mcuboot_bin = path_join(target_path, 'bl2.bin')
+    image_macros_s = path_join(target_path, 'partition', 'signing_layout_s.c')
+    image_macros_ns = path_join(target_path, 'partition', 'signing_layout_ns.c')
+    s_bin_name, s_bin_ext = splitext(basename(secure_bin))
+    s_signed_bin = abspath(path_join(tempdir, s_bin_name + '_signed' + s_bin_ext))
+    ns_bin_name, ns_bin_ext = splitext(basename(non_secure_bin))
+    ns_signed_bin = abspath(path_join(tempdir, 'tfm_' + ns_bin_name + '_signed' + ns_bin_ext))
+    concatenated_bin = abspath(path_join(tempdir, s_bin_name + '_' + ns_bin_name + '_concat' + ns_bin_ext))
+
+    assert os.path.isfile(image_macros_s)
+    assert os.path.isfile(image_macros_ns)
+
+    #1. Run wrapper to sign the TF-M secure binary
+    cmd = [
+        "python3",
+        path_join(MBED_OS_ROOT, "tools", "psa","tfm", "bin_utils","wrapper.py"),
+        "-v",
+        '1.2.0',
+        "-k",
+        path_join(target_path, (target_name + '-root-rsa-3072.pem')),
+        "--layout",
+        image_macros_s,
+        "--public-key-format",
+        'full',
+        "--align",
+        '1',
+        "--pad",
+        "--pad-header",
+        "-H",
+        '0x400',
+        "--overwrite-only",
+        "-s",
+        'auto',
+        "-d",
+        '(0,0.0.0+0)',
+        abspath(secure_bin),
+        s_signed_bin,
+    ]
+
+    retcode = run_cmd(cmd, MBED_OS_ROOT)
+    if retcode:
+        raise Exception("Unable to sign " + target_name +
+                            " secure binary, Error code: " + str(retcode))
+
+    #2. Run wrapper to sign the non-secure mbed binary
+    cmd = [
+        "python3",
+        path_join(MBED_OS_ROOT, "tools", "psa","tfm", "bin_utils","wrapper.py"),
+        "-v",
+        '1.2.0',
+        "-k",
+        path_join(target_path, (target_name + '-root-rsa-3072_1.pem')),
+        "--layout",
+        image_macros_ns,
+        "--public-key-format",
+        'full',
+        "--align",
+        '1',
+        "--pad",
+        "--pad-header",
+        "-H",
+        '0x400',
+        "--overwrite-only",
+        "-s",
+        'auto',
+        "-d",
+        '(1,0.0.0+0)',
+        abspath(non_secure_bin),
+        ns_signed_bin,
+    ]
+
+    retcode = run_cmd(cmd, MBED_OS_ROOT)
+    if retcode:
+        raise Exception("Unable to sign " + target_name +
+                            " non-secure binary, Error code: " + str(retcode))
+
+    #3. Concatenate signed secure TFM and non-secure mbed binaries
+    cmd = [
+        "python3",
+        path_join(MBED_OS_ROOT, "tools", "psa","tfm", "bin_utils","assemble.py"),
+        "--layout",
+        image_macros_s,
+        "-s",
+        s_signed_bin,
+        "-n",
+        ns_signed_bin,
+        "-o",
+        concatenated_bin,
+    ]
+
+    retcode = run_cmd(cmd, MBED_OS_ROOT)
+    if retcode:
+        raise Exception("Unable to concatenate " + target_name +
+                            " binaries, Error code: " + str(retcode))
+
+    #4. Concatenate mcuboot and signed binary and overwrite mbed built binary file
+    mcuboot_image_size = find_bl2_size(flash_layout)
+    with open(mcuboot_bin, "rb") as mcuboot_fh, open(concatenated_bin, "rb") as concat_fh:
+        with open(non_secure_bin, "w+b") as out_fh:
+            out_fh.write(mcuboot_fh.read())
+            out_fh.seek(mcuboot_image_size)
+            out_fh.write(concat_fh.read())
+
+
+def find_bl2_size(configFile):
+    bl2_size_re = re.compile(r"^#define\s+FLASH_AREA_BL2_SIZE\s+\({0,1}(0x[0-9a-fA-F]+)\){0,1}")
+    bl2_size = None
+    with open(configFile, 'r') as flash_layout_file:
+        for line in flash_layout_file:
+            m = bl2_size_re.match(line)
+            if m is not None:
+                bl2_size = int(m.group(1), 0)
+                break
+    return bl2_size
+
+def run_cmd(cmd, directory):
+
+    popen_instance = subprocess.Popen(
+        cmd,
+        stdout=subprocess.PIPE,
+        stderr=subprocess.STDOUT,
+        cwd=directory,
+    )
+
+    popen_instance.communicate()
+    return popen_instance.returncode
+
+def parse_args():
+    parser = argparse.ArgumentParser()
+
+    parser.add_argument(
+        "--tfm-target",
+        help="Name of the TF-M target",
+        required=True
+    )
+
+    parser.add_argument(
+        "--target-path",
+        help="Path containing the target's bootloader, layouts and signing keys",
+        required=True
+    )
+
+    parser.add_argument(
+        "--non-secure-bin",
+        help="Path to the non-secure binary",
+        required=True
+    )
+
+    parser.add_argument(
+        "--secure-bin",
+        help="Path to the secure binary",
+        required=True
+    )
+
+    return parser.parse_args()
+
+if __name__ == "__main__":
+    args = parse_args()
+    sign_and_merge_tfm_bin(args.tfm_target, args.target_path, args.non_secure_bin, args.secure_bin)
diff --git a/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts/mbed_set_post_build_tfm.cmake b/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts/mbed_set_post_build_tfm.cmake
new file mode 100644
index 00000000000..e53d5a857c3
--- /dev/null
+++ b/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts/mbed_set_post_build_tfm.cmake
@@ -0,0 +1,28 @@
+# Copyright (c) 2021 ARM Limited. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+include(${MBED_PATH}/tools/cmake/mbed_set_post_build.cmake)
+
+#
+# Sign TF-M secure and non-secure images and combine them with the bootloader
+#
+function(mbed_post_build_tfm_sign_image
+    mbed_target
+    tfm_target
+    target_path
+    secure_bin
+)
+    find_package(Python3)
+
+    set(mbed_target_name ${mbed_target})
+    set(post_build_command
+        COMMAND ${Python3_EXECUTABLE}
+            ${MBED_PATH}/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts/generate_mbed_image.py
+            --tfm-target ${tfm_target}
+            --target-path ${target_path}
+            --secure-bin ${secure_bin}
+            --non-secure-bin ${CMAKE_BINARY_DIR}/$<TARGET_PROPERTY:mbed-post-build-bin-${mbed_target_name},application>.bin
+    )
+
+    mbed_set_post_build_operation()
+endfunction()
diff --git a/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/CMakeLists.txt b/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/CMakeLists.txt
index 6d2116cde26..995c4a35e8e 100644
--- a/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/CMakeLists.txt
+++ b/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/CMakeLists.txt
@@ -1,6 +1,8 @@
 # Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
+include(${MBED_PATH}/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts/mbed_set_post_build_tfm.cmake)
+
 add_library(mbed-arm-musca-b1 INTERFACE)
 
 if(${MBED_TOOLCHAIN} STREQUAL "ARM")
@@ -52,3 +54,10 @@ target_link_libraries(mbed-arm-musca-b1
         ${CMAKE_CURRENT_SOURCE_DIR}/s_veneers.o
         mbed-arm-ssg
 )
+
+mbed_post_build_tfm_sign_image(
+    ARM_MUSCA_B1
+    musca_b1
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}/tfm_s.bin
+)
diff --git a/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/musca_b1-root-rsa-3072.md b/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/musca_b1-root-rsa-3072.md
new file mode 100644
index 00000000000..a48b77a6fc3
--- /dev/null
+++ b/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/musca_b1-root-rsa-3072.md
@@ -0,0 +1,11 @@
+# Musca-B1 RSA keypair
+
+A default RSA key pair is given to the Musca-B1 target.
+
+Public keys were pre-compiled to `targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/bl2.bin` and private key is in `musca_b1-root-rsa-3072.pem` for Secure image and `musca_b1-root-rsa-3072_1.pem` for Non-Secure image.
+
+DO NOT use them in production code, they are exclusively for testing!
+
+Private key must be stored in a safe place outside of the repository.
+
+`tools/psa/tfm/bin_utils/imgtool.py` can be used to generate new key pairs.
diff --git a/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/musca_b1-root-rsa-3072.pem b/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/musca_b1-root-rsa-3072.pem
new file mode 100644
index 00000000000..23288bc1010
--- /dev/null
+++ b/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/musca_b1-root-rsa-3072.pem
@@ -0,0 +1,39 @@
+-----BEGIN RSA PRIVATE KEY-----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+-----END RSA PRIVATE KEY-----
diff --git a/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/musca_b1-root-rsa-3072_1.pem b/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/musca_b1-root-rsa-3072_1.pem
new file mode 100644
index 00000000000..1214eb58061
--- /dev/null
+++ b/targets/TARGET_ARM_SSG/TARGET_MUSCA_B1/musca_b1-root-rsa-3072_1.pem
@@ -0,0 +1,39 @@
+-----BEGIN RSA PRIVATE KEY-----
+MIIG5AIBAAKCAYEAv7ewn+jI0f4WHVOHl3kcFceZFmzKuC3Kwg1i+euP6ToYQ0fX
+u9VivOMzY6ejqFzzI3j9LQchH7lUcCipCNpQfp6OzGhOf0gN6ifoxu+tX51GSrxp
+mjBfO8FSkvi8ddQ8J3BAAKYuKH9Z5WBDEdwxCX3PL0E/tlIao0kW8rWznDz7Xiwf
+Ioa9rr42Ur3E8FhpNqeAPoGzVJjkXZXtIfC6riH7xBmHVdErTwDYQVjL26maU+ls
+Z8t8XfaRBnVS8sB+sWtdMEBAL9gelTwFl3/wBPBOLNU5DpQ9fAMIHQkI8o1EDc+z
+lj1aduj27pNk6FfR4vULGGlv6eE9+IlJKOavuKjGQlUtwduMXbJtf/4m6nXZ/R/c
+IjukG6et63HfvbQ30eu+CBAceIQcmnXEreXvcxesaXi81jeMDBQhBke9+AqsGQmd
+DR1y4T4adOqG2VxKzczGlKf+2guHEbtr8DrjT4JPseSkzbxwPJ2cSfnPKG242m99
+OFdVQypzjbYY/XCnAgMBAAECggGAWmcsjuMumzMEy5RhWlB+KVkC+7uWRg41z5aP
+ZwkoxdIiscs1U/nVwvsh9uqMdi5Kap45SFvVx0dVpUPPHYEQtvxems3Owh9AjHuA
+PRq09uLLTB+XbmFD7wIExZAsEiXfrbs1Ovkhx+/xfIONbOUXbIHaSk6q0/bYX8nt
+28pJpTFuWORWVCoUVMuWAyNANBOEnYSTqSXw4cHs4aJ6fOgup0EYHsro8dMd6HWe
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+/86W55qTRgtHQmb+oPBn8NYDxnYhEYFzGbpoAPD83U4CyGbnoqp5tsmssw8SfvWH
+BTUdJiPjVLpHRuH1pwAyHMi+MvIVB6A8f5yWbtVwAho3Q+pIwd62aZqCpelUg9Vp
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+tN8/OGdCPkPOFKyY8MHl83tNpsNk7P3F/WJOxCqxWziK3YoDwSr+l96XokAg/SDu
+LoTax3DZPMAd2HSZuBPMGBlIbbfdkAaWzB0QJBSWv6ednt0kue+F1O/sdQ15SXoz
+jGzCrEf60HIOWdAnnCCq0iT+ZeZTX1gMhQKBwQD4qVxxlSJUv+w3pGC17IN3uC3K
+yq988GVqOND21RdwZ/YeYZrmORjnpXyrpJsbj9IGwYd/hpwkLe8qwOj67mZCXmND
+Eca4xE7s4gtAiHXOZKXRgISEs+9giWd/8U7pczVsUwiTS77j6C7nd1f5ZgKajxJd
+Tdy4bIWErCKijmpT/IEQVVYb+Ki8khTKxzbaDxWtrHv/iM+7+bgUfsKefDcO6MCb
+jmhj/aOSzcmcJNfx1bdqCyxuK6iw583awBtctjsCgcEArcdwvG74I4GPsM48b1fL
+48nLtipSAot5rBIi5F7Du91+k1eJwfmhs1I0iWe2txg+ZadtRXcPetRpW2CRQnZl
+I12n2m/t62igoabiHFhAxiZeIZEO+UljVP8LgyILX2zBKZs8MHKzZFcvs2KW4yoB
+wSQ04M2q0SGkp6iQzRUX3fbpK9BkOFoMJcaVg7t6IbMHx9b8TXxlBklLJF4/r1pg
+H1ZLwS82uHdGfkPwt/dnK+Tiwtj9J+3+1D+ArIhffACZAoHBANghRLOIv41QP73h
+Rxn5GA//6vVflIaQ4GUiOya/8p6GDhs8FQnUSPxXD3SVHygmqpOqtN44HxEnR8Eu
+aZJpkkJPjhFmqwY/wqYMl2Eg+txJCQN+pDA/wWl0JJzFHiS1OZMM3OBCLwoi7lnL
+lpC0hMDYaErm+VjnImo9v+DwziRvzbJnqe+oAuncQuw5mUiRYfNRf3mM7ZpiJAjU
+YM6mAqkXzwmmDsASXpGkAn+QWo3dh41JZvXfRsF0ya0/2siLrwKBwBBX7YegsNPJ
+skp5AAwYDvujDISc3aLxqEc1UHyM5SmKVt1U0/Dsyod0ZBMe27N8t9INFqy+G7hI
+Y1sthsk6DyM1hSiZsLBTossJgyu3Tf3e300NTmc6CpFSRqL1L4lcSzKAGNTWvS9H
+5q+MpRkZLzug83pmFw0qTWTw8p79cpELM4sklLg8L5cnLDLZyU+Gr5ZshkgpkXJI
+egyV0maL40d5fDsX2ZqCZQPrQ7+FhDHKg/jf3Z3lXHwTAKBNrQGN6g==
+-----END RSA PRIVATE KEY-----
diff --git a/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/CMakeLists.txt b/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/CMakeLists.txt
index 13309e20e04..94d00a8538c 100644
--- a/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/CMakeLists.txt
+++ b/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/CMakeLists.txt
@@ -1,6 +1,8 @@
 # Copyright (c) 2020-2021 ARM Limited. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
+include(${MBED_PATH}/platform/FEATURE_EXPERIMENTAL_API/FEATURE_PSA/TARGET_TFM/TARGET_TFM_LATEST/scripts/mbed_set_post_build_tfm.cmake)
+
 add_library(mbed-arm-musca-s1 INTERFACE)
 
 if(${MBED_TOOLCHAIN} STREQUAL "ARM")
@@ -58,3 +60,10 @@ target_link_libraries(mbed-arm-musca-s1
         ${CMAKE_CURRENT_SOURCE_DIR}/s_veneers.o
         mbed-arm-ssg
 )
+
+mbed_post_build_tfm_sign_image(
+    ARM_MUSCA_S1
+    musca_s1
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}/tfm_s.bin
+)
diff --git a/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/musca_s1-root-rsa-3072.md b/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/musca_s1-root-rsa-3072.md
new file mode 100644
index 00000000000..638f2f192d8
--- /dev/null
+++ b/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/musca_s1-root-rsa-3072.md
@@ -0,0 +1,11 @@
+# Musca-S1 RSA keypair
+
+A default RSA key pair is given to the Musca-S1 target.
+
+Public keys were pre-compiled to `targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/bl2.bin` and private key is in `musca_s1-root-rsa-3072.pem` for Secure image and `musca_s1-root-rsa-3072_1.pem` for Non-Secure image.
+
+DO NOT use them in production code, they are exclusively for testing!
+
+Private key must be stored in a safe place outside of the repository.
+
+`tools/psa/tfm/bin_utils/imgtool.py` can be used to generate new key pairs.
diff --git a/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/musca_s1-root-rsa-3072.pem b/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/musca_s1-root-rsa-3072.pem
new file mode 100644
index 00000000000..23288bc1010
--- /dev/null
+++ b/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/musca_s1-root-rsa-3072.pem
@@ -0,0 +1,39 @@
+-----BEGIN RSA PRIVATE KEY-----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+-----END RSA PRIVATE KEY-----
diff --git a/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/musca_s1-root-rsa-3072_1.pem b/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/musca_s1-root-rsa-3072_1.pem
new file mode 100644
index 00000000000..1214eb58061
--- /dev/null
+++ b/targets/TARGET_ARM_SSG/TARGET_MUSCA_S1/musca_s1-root-rsa-3072_1.pem
@@ -0,0 +1,39 @@
+-----BEGIN RSA PRIVATE KEY-----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+-----END RSA PRIVATE KEY-----