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diff --git a/testing/web-platform/tests/webxr/xrRigidTransform_inverse.https.html b/testing/web-platform/tests/webxr/xrRigidTransform_inverse.https.html
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+++ b/testing/web-platform/tests/webxr/xrRigidTransform_inverse.https.html
@@ -0,0 +1,108 @@
+<!DOCTYPE html>
+<script src="/resources/testharness.js"></script>
+<script src="/resources/testharnessreport.js"></script>
+<script src="resources/webxr_util.js"></script>
+<script src="resources/webxr_math_utils.js"></script>
+<script src="resources/webxr_test_constants.js"></script>
+<script src="resources/webxr_test_asserts.js"></script>
+<script>
+
+let testName = "XRRigidTransform inverse works";
+let fakeDeviceInitParams = TRACKED_IMMERSIVE_DEVICE;
+
+let testFunction =
+  (session, fakeDeviceController, t) => new Promise((resolve, reject) => {
+
+  // An identity transform should be equal to it's inverse.
+  let identity_transform = new XRRigidTransform();
+  t.step(() => {
+    assert_transform_approx_equals(identity_transform, identity_transform.inverse);
+  });
+
+  // Inversed transforms should yield the expected results
+  let transform = new XRRigidTransform(
+      { x: 1.0, y: 2.0, z: 3.0 },
+      { x: 0.0, y: 0.0, z: 0.0, w: 1.0 });
+  let inverse_transform = transform.inverse;
+  let expected_inverse = new XRRigidTransform(
+      { x: -1.0, y: -2.0, z: -3.0 },
+      { x: 0.0, y: 0.0, z: 0.0, w: 1.0 });
+  t.step(() => {
+    assert_transform_approx_equals(inverse_transform, expected_inverse);
+  });
+
+  transform = new XRRigidTransform(
+      { x: 0.0, y: 0.0, z: 0.0 },
+      { x: 1.0, y: 0.0, z: 0.0, w: 1.0 });
+  inverse_transform = transform.inverse;
+  expected_inverse = new XRRigidTransform(
+      { x: 0.0, y: 0.0, z: 0.0 },
+      { x: -1.0, y: 0.0, z: 0.0, w: 1.0 });
+  t.step(() => {
+    assert_transform_approx_equals(inverse_transform, expected_inverse);
+  });
+
+  transform = new XRRigidTransform(
+      { x: 1.0, y: 2.0, z: 3.0 },
+      { x: 0.0, y: 1.0, z: 0.0, w: 1.0 });
+  inverse_transform = transform.inverse;
+  expected_inverse = new XRRigidTransform(
+      { x: 3.0, y: -2.0, z: -1.0 },
+      { x: 0.0, y: -1.0, z: 0.0, w: 1.0 });
+  t.step(() => {
+    assert_transform_approx_equals(inverse_transform, expected_inverse);
+  });
+
+  // Transforms should be equal to the inverse of their inverse.
+  transform = new XRRigidTransform(
+      { x: 1.0, y: 2.0, z: 3.0 },
+      { x: 1.0, y: 2.0, z: 3.0, w: 4.0 });
+  inverse_transform = transform.inverse;
+  t.step(() => {
+    assert_transform_approx_equals(transform, inverse_transform.inverse);
+  });
+
+  transform = new XRRigidTransform(
+      { x: -9.0, y: 8.0, z: -7.0 },
+      { x: 6.0, y: -5.0, z: 4.0, w: 3.0 });
+  inverse_transform = transform.inverse;
+  t.step(() => {
+    assert_transform_approx_equals(transform, inverse_transform.inverse);
+  });
+
+  transform = new XRRigidTransform(
+      { x: -2.0, y: 1.0, z: -4.0 },
+      { x: 0.0, y: 1.0, z: 0.0, w: 1.0 });
+  inverse_transform = transform.inverse;
+  t.step(() => {
+    assert_transform_approx_equals(transform, inverse_transform.inverse);
+  });
+
+  transform = new XRRigidTransform(
+      { x: 2.0, y: -1.0, z: 4.0 },
+      { x: 1.0, y: 0.0, z: 0.0, w: 1.0 });
+  inverse_transform = transform.inverse;
+  t.step(() => {
+    assert_transform_approx_equals(transform, inverse_transform.inverse);
+  });
+
+  // Inverse should always return the same object, and calling inverse on that
+  // object should return the original object.
+  transform = new XRRigidTransform(
+      { x: 1.0, y: -2.0, z: 3.0 },
+      { x: 0.0, y: 0.0, z: 1.0, w: 1.0 });
+  inverse_transform = transform.inverse;
+  t.step(() => {
+    assert_equals(transform.inverse, inverse_transform);
+    assert_equals(inverse_transform.inverse, transform);
+    assert_equals(transform.inverse.inverse, transform);
+    assert_equals(transform.inverse.inverse.inverse, inverse_transform);
+  });
+
+  resolve();
+});
+
+xr_session_promise_test(testName, testFunction, fakeDeviceInitParams,
+    'immersive-vr');
+
+</script>