diff --git a/jtag/org.eclipse.cdt.debug.gdbjtag.core/src/org/eclipse/cdt/debug/gdbjtag/core/GDBJtagDSFFinalLaunchSequence.java b/jtag/org.eclipse.cdt.debug.gdbjtag.core/src/org/eclipse/cdt/debug/gdbjtag/core/GDBJtagDSFFinalLaunchSequence.java
index 4e1761704dc..59f169e6ed8 100644
--- a/jtag/org.eclipse.cdt.debug.gdbjtag.core/src/org/eclipse/cdt/debug/gdbjtag/core/GDBJtagDSFFinalLaunchSequence.java
+++ b/jtag/org.eclipse.cdt.debug.gdbjtag.core/src/org/eclipse/cdt/debug/gdbjtag/core/GDBJtagDSFFinalLaunchSequence.java
@@ -22,6 +22,7 @@
  *     John Dallaway - Test for reset/delay/halt command not defined (Bug 361881)
  *     Torbjörn Svensson (STMicroelectronics) - Bug 535024
  *     John Dallaway - Report download progress (Bug 543149)
+ *     John Dallaway - Use 'reset and halt' command (Bug 535163)
  *******************************************************************************/
 package org.eclipse.cdt.debug.gdbjtag.core;
 
@@ -412,7 +413,11 @@ public class GDBJtagDSFFinalLaunchSequence extends FinalLaunchSequence {
 		if (CDebugUtils.getAttribute(getAttributes(), IGDBJtagConstants.ATTR_DO_RESET,
 				IGDBJtagConstants.DEFAULT_DO_RESET)) {
 			List<String> commands = new ArrayList<>();
-			fGdbJtagDevice.doReset(commands);
+			if (useResetAndHalt()) {
+				fGdbJtagDevice.doResetAndHalt(commands);
+			} else {
+				fGdbJtagDevice.doReset(commands);
+			}
 			if (commands.isEmpty()) {
 				setError(String.format(Messages.getString("GDBJtagDebugger.reset_not_defined"), getGDBJtagDeviceName()), //$NON-NLS-1$
 						rm);
@@ -437,9 +442,11 @@ public class GDBJtagDSFFinalLaunchSequence extends FinalLaunchSequence {
 			List<String> commands = new ArrayList<>();
 			int delay = CDebugUtils.getAttribute(getAttributes(), IGDBJtagConstants.ATTR_DELAY, defaultDelay);
 			fGdbJtagDevice.doDelay(delay, commands);
-			if (commands.isEmpty() && (delay != 0)) {
-				setError(String.format(Messages.getString("GDBJtagDebugger.delay_not_defined"), getGDBJtagDeviceName()), //$NON-NLS-1$
-						rm);
+			if (0 == delay) {
+				rm.done();
+			} else if (commands.isEmpty()) {
+				setError(String.format(Messages.getString("GDBJtagDebugger.delay_not_defined"), //$NON-NLS-1$
+						getGDBJtagDeviceName()), rm);
 			} else {
 				queueCommands(commands, rm);
 			}
@@ -454,7 +461,7 @@ public class GDBJtagDSFFinalLaunchSequence extends FinalLaunchSequence {
 	/** @since 8.2 */
 	@Execute
 	public void stepHaltBoard(final RequestMonitor rm) {
-		if (CDebugUtils.getAttribute(getAttributes(), IGDBJtagConstants.ATTR_DO_HALT,
+		if (!useResetAndHalt() && CDebugUtils.getAttribute(getAttributes(), IGDBJtagConstants.ATTR_DO_HALT,
 				IGDBJtagConstants.DEFAULT_DO_HALT)) {
 			List<String> commands = new ArrayList<>();
 			fGdbJtagDevice.doHalt(commands);
@@ -772,6 +779,21 @@ public class GDBJtagDSFFinalLaunchSequence extends FinalLaunchSequence {
 		return sb.toString();
 	}
 
+	/**
+	 * Determine if reset and halt should be issued as one command
+	 */
+	private boolean useResetAndHalt() {
+		final boolean doReset = CDebugUtils.getAttribute(getAttributes(), IGDBJtagConstants.ATTR_DO_RESET,
+				IGDBJtagConstants.DEFAULT_DO_RESET);
+		final boolean doHalt = CDebugUtils.getAttribute(getAttributes(), IGDBJtagConstants.ATTR_DO_HALT,
+				IGDBJtagConstants.DEFAULT_DO_HALT);
+		final int defaultDelay = fGdbJtagDevice.getDefaultDelay();
+		final int delay = CDebugUtils.getAttribute(getAttributes(), IGDBJtagConstants.ATTR_DELAY, defaultDelay);
+		final List<String> resetAndHaltCommands = new ArrayList<>();
+		fGdbJtagDevice.doResetAndHalt(resetAndHaltCommands);
+		return doReset && doHalt && (0 == delay) && !resetAndHaltCommands.isEmpty();
+	}
+
 	/**
 	 * Cleanup now that the sequence has been run.
 	 * @since 8.2
diff --git a/jtag/org.eclipse.cdt.debug.gdbjtag.core/src/org/eclipse/cdt/debug/gdbjtag/core/jtagdevice/IGDBJtagDevice.java b/jtag/org.eclipse.cdt.debug.gdbjtag.core/src/org/eclipse/cdt/debug/gdbjtag/core/jtagdevice/IGDBJtagDevice.java
index c854cee390b..461b2528d8a 100644
--- a/jtag/org.eclipse.cdt.debug.gdbjtag.core/src/org/eclipse/cdt/debug/gdbjtag/core/jtagdevice/IGDBJtagDevice.java
+++ b/jtag/org.eclipse.cdt.debug.gdbjtag.core/src/org/eclipse/cdt/debug/gdbjtag/core/jtagdevice/IGDBJtagDevice.java
@@ -1,5 +1,5 @@
 /*******************************************************************************
- * Copyright (c) 2008, 2012 QNX Software Systems and others.
+ * Copyright (c) 2008, 2019 QNX Software Systems and others.
  *
  * This program and the accompanying materials
  * are made available under the terms of the Eclipse Public License 2.0
@@ -11,6 +11,7 @@
  * Contributors:
  *     QNX Software Systems - Initial API and implementation
  *     Andy Jin - Hardware debugging UI improvements, bug 229946
+ *     John Dallaway - Support 'reset and halt' command, bug 535163
  *******************************************************************************/
 
 package org.eclipse.cdt.debug.gdbjtag.core.jtagdevice;
@@ -26,13 +27,13 @@ import java.util.Collection;
 public interface IGDBJtagDevice {
 
 	/**
-	 * Device reset command
+	 * Device reset and run commands
 	 *
 	 * @param commands
 	 *            implementation should populate the collection with the gdb
-	 *            commands that will reset the device, or leave the collection
-	 *            as-is if that operation is either unsupported or not
-	 *            applicable
+	 *            commands that will reset the device and let it run, or leave
+	 *            the collection as-is if that operation is either unsupported
+	 *            or not applicable
 	 */
 	public void doReset(Collection<String> commands);
 
@@ -68,6 +69,20 @@ public interface IGDBJtagDevice {
 	 */
 	public void doHalt(Collection<String> commands);
 
+	/**
+	 * Device reset and immediate halt as a single command
+	 *
+	 * @param commands
+	 *            implementation should populate the collection with the
+	 *            single gdb command that will reset and halt the target, or
+	 *            leave the collection as-is if that operation is either
+	 *            unsupported or not applicable
+	 * @since 9.3
+	 */
+	default void doResetAndHalt(Collection<String> commands) {
+		/* override where supported by debugger */
+	}
+
 	/**
 	 * Commands to connect to remote JTAG device
 	 *