diff --git a/src/main/java/io/appium/java_client/AppiumDriver.java b/src/main/java/io/appium/java_client/AppiumDriver.java
index 32785d1eb..fd512197a 100644
--- a/src/main/java/io/appium/java_client/AppiumDriver.java
+++ b/src/main/java/io/appium/java_client/AppiumDriver.java
@@ -29,7 +29,6 @@
 import io.appium.java_client.remote.MobileCapabilityType;
 import io.appium.java_client.service.local.AppiumDriverLocalService;
 import io.appium.java_client.service.local.AppiumServiceBuilder;
-
 import org.openqa.selenium.By;
 import org.openqa.selenium.Capabilities;
 import org.openqa.selenium.DeviceRotation;
@@ -39,7 +38,6 @@
 import org.openqa.selenium.WebDriverException;
 import org.openqa.selenium.WebElement;
 import org.openqa.selenium.html5.Location;
-
 import org.openqa.selenium.remote.CapabilityType;
 import org.openqa.selenium.remote.DesiredCapabilities;
 import org.openqa.selenium.remote.DriverCommand;
@@ -49,8 +47,10 @@
 import org.openqa.selenium.remote.Response;
 import org.openqa.selenium.remote.html5.RemoteLocationContext;
 import org.openqa.selenium.remote.http.HttpClient;
+import org.openqa.selenium.remote.http.HttpMethod;
 
 import java.net.URL;
+import java.util.Arrays;
 import java.util.LinkedHashSet;
 import java.util.List;
 import java.util.Map;
@@ -288,6 +288,31 @@ public void rotate(ScreenOrientation orientation) {
                 ImmutableMap.of("orientation", orientation.value().toUpperCase()));
     }
 
+    /**
+     * This method is used to add custom appium commands in Appium 2.0.
+     *
+     * @param httpMethod the available {@link HttpMethod}.
+     * @param url The url to URL template as https://www.w3.org/TR/webdriver/#endpoints.
+     * @param methodName The name of custom appium command.
+     */
+    public void addCommand(HttpMethod httpMethod, String url, String methodName) {
+        switch (httpMethod) {
+            case GET:
+                MobileCommand.commandRepository.put(methodName, MobileCommand.getC(url));
+                break;
+            case POST:
+                MobileCommand.commandRepository.put(methodName, MobileCommand.postC(url));
+                break;
+            case DELETE:
+                MobileCommand.commandRepository.put(methodName, MobileCommand.deleteC(url));
+                break;
+            default:
+                throw new WebDriverException(String.format("Unsupported HTTP Method: %s. Only %s methods are supported",
+                        httpMethod,
+                        Arrays.toString(HttpMethod.values())));
+        }
+    }
+
     @Override
     public ScreenOrientation getOrientation() {
         Response response = execute(DriverCommand.GET_SCREEN_ORIENTATION);
diff --git a/src/main/java/io/appium/java_client/remote/AppiumCommandExecutor.java b/src/main/java/io/appium/java_client/remote/AppiumCommandExecutor.java
index ea0ade5f0..2b0f77f7e 100644
--- a/src/main/java/io/appium/java_client/remote/AppiumCommandExecutor.java
+++ b/src/main/java/io/appium/java_client/remote/AppiumCommandExecutor.java
@@ -241,6 +241,9 @@ public Response execute(Command command) throws WebDriverException {
                 }
             });
         }
+        if (getAdditionalCommands().containsKey(command.getName())) {
+            super.defineCommand(command.getName(), getAdditionalCommands().get(command.getName()));
+        }
 
         Response response;
         try {
diff --git a/src/test/java/io/appium/java_client/ios/AppIOSTest.java b/src/test/java/io/appium/java_client/ios/AppIOSTest.java
index 12426ebd9..bdc75a01b 100644
--- a/src/test/java/io/appium/java_client/ios/AppIOSTest.java
+++ b/src/test/java/io/appium/java_client/ios/AppIOSTest.java
@@ -39,4 +39,4 @@ public static void beforeClass() throws Exception {
             driver = new IOSDriver<>(new URL("http://" + ip + ":" + PORT + "/wd/hub"), capabilities);
         }
     }
-}
+}
\ No newline at end of file
diff --git a/src/test/java/io/appium/java_client/ios/BaseIOSTest.java b/src/test/java/io/appium/java_client/ios/BaseIOSTest.java
index 45e7a8e2e..9275dd10b 100644
--- a/src/test/java/io/appium/java_client/ios/BaseIOSTest.java
+++ b/src/test/java/io/appium/java_client/ios/BaseIOSTest.java
@@ -31,9 +31,9 @@ public class BaseIOSTest {
     protected static IOSDriver<IOSElement> driver;
     protected static final int PORT = 4723;
     public static final String DEVICE_NAME = System.getenv("IOS_DEVICE_NAME") != null
-            ? System.getenv("IOS_DEVICE_NAME") : "iPhone X";
+            ? System.getenv("IOS_DEVICE_NAME") : "iPhone 12";
     public static final String PLATFORM_VERSION = System.getenv("IOS_PLATFORM_VERSION") != null
-            ? System.getenv("IOS_PLATFORM_VERSION") : "11.4";
+            ? System.getenv("IOS_PLATFORM_VERSION") : "14.5";
 
 
     /**
diff --git a/src/test/java/io/appium/java_client/ios/IOSDriverTest.java b/src/test/java/io/appium/java_client/ios/IOSDriverTest.java
index 40ecb5a9b..a1d7a0fb3 100644
--- a/src/test/java/io/appium/java_client/ios/IOSDriverTest.java
+++ b/src/test/java/io/appium/java_client/ios/IOSDriverTest.java
@@ -22,18 +22,21 @@
 import static org.hamcrest.Matchers.greaterThan;
 import static org.junit.Assert.assertEquals;
 import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertNotNull;
 import static org.junit.Assert.assertTrue;
 import static org.junit.Assert.fail;
 
+import com.google.common.collect.ImmutableMap;
 import io.appium.java_client.MobileElement;
 import io.appium.java_client.appmanagement.ApplicationState;
 import io.appium.java_client.remote.HideKeyboardStrategy;
 import org.junit.Ignore;
 import org.junit.Test;
-
 import org.openqa.selenium.By;
 import org.openqa.selenium.ScreenOrientation;
 import org.openqa.selenium.html5.Location;
+import org.openqa.selenium.remote.Response;
+import org.openqa.selenium.remote.http.HttpMethod;
 import org.openqa.selenium.support.ui.ExpectedConditions;
 import org.openqa.selenium.support.ui.WebDriverWait;
 
@@ -41,6 +44,30 @@
 
 public class IOSDriverTest extends AppIOSTest {
 
+    @Test
+    public void addCustomCommandTest() {
+        driver.addCommand(HttpMethod.GET, "/sessions", "getSessions");
+        final Response getSessions = driver.execute("getSessions");
+        assertNotNull(getSessions.getSessionId());
+    }
+
+    @Test
+    public void addCustomCommandWithSessionIdTest() {
+        driver.addCommand(HttpMethod.POST, "/session/" + driver.getSessionId() + "/appium/app/launch", "launchApplication");
+        final Response launchApplication = driver.execute("launchApplication");
+        assertNotNull(launchApplication.getSessionId());
+    }
+
+    @Test
+    public void addCustomCommandWithElementIdTest() {
+        IOSElement intA = driver.findElementById("IntegerA");
+        intA.clear();
+        driver.addCommand(HttpMethod.POST,
+                String.format("/session/%s/appium/element/%s/value", driver.getSessionId(), intA.getId()), "setNewValue");
+        final Response setNewValue = driver.execute("setNewValue", ImmutableMap.of("id", intA.getId(), "value", "8"));
+        assertNotNull(setNewValue.getSessionId());
+    }
+
     @Test
     public void getDeviceTimeTest() {
         String time = driver.getDeviceTime();