diff --git a/tier4_prototype_api_launch/CMakeLists.txt b/tier4_prototype_api_launch/CMakeLists.txt
new file mode 100644
index 0000000..8eaed4a
--- /dev/null
+++ b/tier4_prototype_api_launch/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.14)
+project(tier4_prototype_api_launch)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_package(INSTALL_TO_SHARE launch)
diff --git a/tier4_prototype_api_launch/README.md b/tier4_prototype_api_launch/README.md
new file mode 100644
index 0000000..6070e70
--- /dev/null
+++ b/tier4_prototype_api_launch/README.md
@@ -0,0 +1,4 @@
+# tier4_prototype_api_launch
+
+This package launches the prototype TIER IV API. See [List of TIER IV API](https://tier4.github.io/autoware-documentation/tier4-main/design/autoware-interfaces/prototyping/) for details of each API.
+If there is a similar feature in the [AD API](https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/), please migrate to it.
diff --git a/tier4_prototype_api_launch/launch/tier4_prototype_api.launch.xml b/tier4_prototype_api_launch/launch/tier4_prototype_api.launch.xml
new file mode 100644
index 0000000..2eaed4a
--- /dev/null
+++ b/tier4_prototype_api_launch/launch/tier4_prototype_api.launch.xml
@@ -0,0 +1,28 @@
+<launch>
+  <!-- awapi -->
+  <group>
+    <include file="$(find-pkg-share awapi_awiv_adapter)/launch/awapi_awiv_adapter.launch.xml"/>
+  </group>
+
+  <!-- autoware api adaptor -->
+  <group>
+    <push-ros-namespace namespace="autoware_api"/>
+    <include file="$(find-pkg-share autoware_iv_external_api_adaptor)/launch/external_api_adaptor.launch.py"/>
+    <include file="$(find-pkg-share autoware_iv_internal_api_adaptor)/launch/internal_api_adaptor.launch.py"/>
+    <include file="$(find-pkg-share autoware_iv_internal_api_adaptor)/launch/internal_api_relay.launch.xml"/>
+  </group>
+
+  <!-- autoware api utils -->
+  <group>
+    <push-ros-namespace namespace="autoware_api/utils"/>
+    <include file="$(find-pkg-share path_distance_calculator)/launch/path_distance_calculator.launch.xml"/>
+  </group>
+
+  <!-- RTC controller -->
+  <group>
+    <push-ros-namespace namespace="autoware_api/external/rtc_controller"/>
+    <node_container pkg="rclcpp_components" exec="component_container_mt" name="container" namespace="" ros_args="--log-level autoware_api.external.rtc_controller.container:=warn">
+      <composable_node pkg="autoware_iv_external_api_adaptor" plugin="external_api::RTCController" name="node"/>
+    </node_container>
+  </group>
+</launch>
diff --git a/tier4_prototype_api_launch/package.xml b/tier4_prototype_api_launch/package.xml
new file mode 100644
index 0000000..6b023a6
--- /dev/null
+++ b/tier4_prototype_api_launch/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>tier4_prototype_api_launch</name>
+  <version>0.0.0</version>
+  <description>The tier4_prototype_api_launch package</description>
+  <maintainer email="isamu.takagi@tier4.jp">Takagi, Isamu</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <exec_depend>autoware_iv_external_api_adaptor</exec_depend>
+  <exec_depend>autoware_iv_internal_api_adaptor</exec_depend>
+  <exec_depend>awapi_awiv_adapter</exec_depend>
+  <exec_depend>path_distance_calculator</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>