diff --git a/.murdock b/.murdock
index 0cc319a170..f5edc5b931 100755
--- a/.murdock
+++ b/.murdock
@@ -25,7 +25,8 @@ tests/mtd_mapper tests/driver_o* tests/driver_p* tests/driver_q*
 tests/driver_r* tests/driver_s* tests/driver_t* tests/driver_u*
 tests/driver_v*"}
 : ${TEST_KCONFIG_native:="examples/hello-world tests/periph_* tests/sys_crypto
-tests/prng_* tests/xtimer_* tests/ztimer_* tests/driver_ws281x"}
+tests/prng_* tests/xtimer_* tests/ztimer_* tests/driver_ws281x
+tests/posix_sleep"}
 
 : ${TEST_WITH_CONFIG_SUPPORTED:="examples/suit_update tests/driver_at86rf2xx_aes"}
 
diff --git a/sys/Kconfig b/sys/Kconfig
index 3a6991737d..a9d0acc0da 100644
--- a/sys/Kconfig
+++ b/sys/Kconfig
@@ -27,6 +27,7 @@ rsource "net/Kconfig"
 rsource "Kconfig.newlib"
 rsource "Kconfig.stdio"
 rsource "od/Kconfig"
+rsource "posix/Kconfig"
 rsource "phydat/Kconfig"
 rsource "pm_layered/Kconfig"
 rsource "ps/Kconfig"
diff --git a/sys/posix/Kconfig b/sys/posix/Kconfig
new file mode 100644
index 0000000000..d4a5ba363d
--- /dev/null
+++ b/sys/posix/Kconfig
@@ -0,0 +1,16 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+menu "Posix"
+    depends on TEST_KCONFIG
+
+config MODULE_POSIX_HEADERS
+    bool
+
+rsource "sleep/Kconfig"
+
+endmenu # Posix
diff --git a/sys/posix/sleep/Kconfig b/sys/posix/sleep/Kconfig
new file mode 100644
index 0000000000..d69349b1a2
--- /dev/null
+++ b/sys/posix/sleep/Kconfig
@@ -0,0 +1,12 @@
+# Copyright (c) 2021 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+config MODULE_POSIX_SLEEP
+    bool "Posix Sleep"
+    depends on MODULE_ZTIMER_MSEC
+    depends on MODULE_ZTIMER_USEC
+    select MODULE_POSIX_HEADERS
diff --git a/tests/posix_sleep/app.config.test b/tests/posix_sleep/app.config.test
new file mode 100644
index 0000000000..fcf9e41a87
--- /dev/null
+++ b/tests/posix_sleep/app.config.test
@@ -0,0 +1,5 @@
+CONFIG_MODULE_POSIX_SLEEP=y
+CONFIG_MODULE_ZTIMER=y
+CONFIG_MODULE_ZTIMER_PERIPH_TIMER=y
+CONFIG_MODULE_ZTIMER_USEC=y
+CONFIG_MODULE_ZTIMER_MSEC=y