diff --git a/include/cglm/util.h b/include/cglm/util.h
index 85fc789..b272d44 100644
--- a/include/cglm/util.h
+++ b/include/cglm/util.h
@@ -143,4 +143,19 @@ glm_clamp(float val, float minVal, float maxVal) {
   return glm_min(glm_max(val, minVal), maxVal);
 }
 
+/*!
+ * @brief linear interpolation between two number
+ *
+ * formula:  from + s * (to - from)
+ *
+ * @param[in]   from from value
+ * @param[in]   to   to value
+ * @param[in]   t    interpolant (amount) clamped between 0 and 1
+ */
+CGLM_INLINE
+float
+glm_lerp(float from, float to, float t) {
+  return from + glm_clamp(t, 0.0f, 1.0f) * (to - from);
+}
+
 #endif /* cglm_util_h */
diff --git a/include/cglm/vec3.h b/include/cglm/vec3.h
index 13b4920..cb94909 100644
--- a/include/cglm/vec3.h
+++ b/include/cglm/vec3.h
@@ -506,6 +506,28 @@ glm_vec_clamp(vec3 v, float minVal, float maxVal) {
   v[2] = glm_clamp(v[2], minVal, maxVal);
 }
 
+/*!
+ * @brief linear interpolation between two vector
+ *
+ * formula:  from + s * (to - from)
+ *
+ * @param[in]   from from value
+ * @param[in]   to   to value
+ * @param[in]   t    interpolant (amount) clamped between 0 and 1
+ * @param[out]  dest destination
+ */
+CGLM_INLINE
+void
+glm_vec_lerp(vec3 from, vec3 to, float t, vec3 dest) {
+  vec3 s, v;
+
+  /* from + s * (to - from) */
+  glm_vec_broadcast(glm_clamp(t, 0.0f, 1.0f), s);
+  glm_vec_sub(to, from, v);
+  glm_vec_mulv(s, v, v);
+  glm_vec_add(from, v, dest);
+}
+
 /*!
  * @brief vec3 cross product
  *
diff --git a/include/cglm/vec4.h b/include/cglm/vec4.h
index 1c4ce13..eaa4eaf 100644
--- a/include/cglm/vec4.h
+++ b/include/cglm/vec4.h
@@ -417,4 +417,26 @@ glm_vec4_clamp(vec4 v, float minVal, float maxVal) {
   v[3] = glm_clamp(v[3], minVal, maxVal);
 }
 
+/*!
+ * @brief linear interpolation between two vector
+ *
+ * formula:  from + s * (to - from)
+ *
+ * @param[in]   from from value
+ * @param[in]   to   to value
+ * @param[in]   t    interpolant (amount) clamped between 0 and 1
+ * @param[out]  dest destination
+ */
+CGLM_INLINE
+void
+glm_vec4_lerp(vec4 from, vec4 to, float t, vec4 dest) {
+  vec4 s, v;
+
+  /* from + s * (to - from) */
+  glm_vec4_broadcast(glm_clamp(t, 0.0f, 1.0f), s);
+  glm_vec4_sub(to, from, v);
+  glm_vec4_mulv(s, v, v);
+  glm_vec4_add(from, v, dest);
+}
+
 #endif /* cglm_vec4_h */