diff --git a/README.md b/README.md
index 14120af108..8cbc63494a 100644
--- a/README.md
+++ b/README.md
@@ -197,6 +197,7 @@ rules in templates can be disabled with eslint directives with mustache or html
 | [template-no-nested-interactive](docs/rules/template-no-nested-interactive.md)                   | disallow nested interactive elements                                             |    |    |    |
 | [template-no-nested-landmark](docs/rules/template-no-nested-landmark.md)                         | disallow nested landmark elements                                                |    |    |    |
 | [template-no-pointer-down-event-binding](docs/rules/template-no-pointer-down-event-binding.md)   | disallow pointer down event bindings                                             |    |    |    |
+| [template-require-valid-form-groups](docs/rules/template-require-valid-form-groups.md)           | require grouped form controls to have fieldset/legend or WAI-ARIA group labeling |    |    |    |
 | [template-table-groups](docs/rules/template-table-groups.md)                                     | require table elements to use table grouping elements                            |    |    |    |
 
 ### Best Practices
diff --git a/docs/rules/template-require-valid-form-groups.md b/docs/rules/template-require-valid-form-groups.md
new file mode 100644
index 0000000000..3ee8551be1
--- /dev/null
+++ b/docs/rules/template-require-valid-form-groups.md
@@ -0,0 +1,69 @@
+# ember/template-require-valid-form-groups
+
+<!-- end auto-generated rule header -->
+
+Require grouped form controls to have appropriate semantics.
+
+This rule requires appropriate semantics for grouped form controls. Correctly grouped
+form controls will take one of two approaches:
+
+- use `<fieldset>` + `<legend>` (preferred)
+- associate controls using WAI-ARIA (also acceptable)
+
+## Examples
+
+This rule **forbids** the following:
+
+```gjs
+<template>
+  <div>
+    <label for="radio-001">Chicago Zoey</label>
+    <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey" />
+    <label for="radio-002">Office Hours Tomster</label>
+    <input id="radio-002" type="radio" name="prefMascot-OfficeHoursTomster" value="office hours tomster" />
+    <label for="radio-003">A11y Zoey</label>
+    <input id="radio-003" type="radio" name="prefMascot-Zoey" value="a11y zoey" />
+  </div>
+</template>
+```
+
+This rule **allows** the following:
+
+```gjs
+<template>
+  <div role="group" aria-labelledby="preferred-mascot-heading">
+    <div id="preferred-mascot-heading">Preferred Mascot Version</div>
+    <label for="radio-001">Chicago Zoey</label>
+    <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey" />
+    <label for="radio-002">Office Hours Tomster</label>
+    <input id="radio-002" type="radio" name="prefMascot-OfficeHoursTomster" value="office hours tomster" />
+    <label for="radio-003">A11y Zoey</label>
+    <input id="radio-003" type="radio" name="prefMascot-Zoey" value="a11y zoey" />
+  </div>
+</template>
+```
+
+```gjs
+<template>
+  <fieldset>
+    <legend>Preferred Mascot Version</legend>
+      <div>
+        <label for="radio-001">Chicago Zoey</label>
+        <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey" />
+      </div>
+      <div>
+        <label for="radio-002">Office Hours Tomster</label>
+        <input id="radio-002" type="radio" name="prefMascot-OfficeHoursTomster" value="office hours tomster" />
+      </div>
+      <div>
+        <label for="radio-003">A11y Zoey</label>
+        <input id="radio-003" type="radio" name="prefMascot-Zoey" value="a11y zoey" />
+      </div>
+  </fieldset>
+</template>
+```
+
+## References
+
+- [Grouping Controls](https://www.w3.org/WAI/tutorials/forms/grouping/)
+- [The Field Set element](https://developer.mozilla.org/en-US/docs/Web/HTML/Element/fieldset)
diff --git a/lib/rules/template-require-valid-form-groups.js b/lib/rules/template-require-valid-form-groups.js
new file mode 100644
index 0000000000..ce074166c1
--- /dev/null
+++ b/lib/rules/template-require-valid-form-groups.js
@@ -0,0 +1,96 @@
+/** @type {import('eslint').Rule.RuleModule} */
+const FORM_ELEMENTS = new Set(['input']);
+
+function hasRoleGroup(node) {
+  const roleAttr = node.attributes?.find((attr) => attr.name === 'role');
+  return roleAttr && roleAttr.value?.type === 'GlimmerTextNode' && roleAttr.value.chars === 'group';
+}
+
+function hasAriaLabel(node) {
+  return node.attributes?.some((attr) => attr.name === 'aria-labelledby');
+}
+
+function isValidFormGroup(node) {
+  if (node.tag === 'fieldset' || node.tag === 'legend') {
+    return true;
+  }
+
+  return hasRoleGroup(node) && hasAriaLabel(node);
+}
+
+function hasMultipleFormElementsInParentScope(node) {
+  const parent = node.parent;
+
+  if (!parent || parent.type !== 'GlimmerElementNode') {
+    return false;
+  }
+
+  const elementChildren =
+    parent.children?.filter((child) => child.type === 'GlimmerElementNode') || [];
+  const formElements = elementChildren.filter((child) => FORM_ELEMENTS.has(child.tag));
+
+  return formElements.length > 1;
+}
+
+function hasValidGroupingAncestor(node) {
+  let parent = node.parent;
+
+  while (parent) {
+    if (parent.type === 'GlimmerElementNode' && isValidFormGroup(parent)) {
+      return true;
+    }
+
+    parent = parent.parent;
+  }
+
+  return false;
+}
+
+module.exports = {
+  meta: {
+    type: 'problem',
+    docs: {
+      description:
+        'require grouped form controls to have fieldset/legend or WAI-ARIA group labeling',
+      category: 'Accessibility',
+      recommendedGjs: false,
+      recommendedGts: false,
+      url: 'https://github.com/ember-cli/eslint-plugin-ember/tree/master/docs/rules/template-require-valid-form-groups.md',
+      templateMode: 'both',
+    },
+    schema: [],
+    messages: {
+      requireValidFormGroups:
+        'Grouped form controls should have appropriate semantics such as fieldset and legend or WAI-ARIA labels',
+    },
+    originallyFrom: {
+      name: 'ember-template-lint',
+      rule: 'lib/rules/require-valid-form-groups.js',
+      docs: 'docs/rule/require-valid-form-groups.md',
+      tests: 'test/unit/rules/require-valid-form-groups-test.js',
+    },
+  },
+
+  create(context) {
+    return {
+      GlimmerElementNode(node) {
+        if (!FORM_ELEMENTS.has(node.tag)) {
+          return;
+        }
+
+        if (!hasMultipleFormElementsInParentScope(node)) {
+          return;
+        }
+
+        if (hasValidGroupingAncestor(node)) {
+          return;
+        }
+
+        context.report({
+          node,
+          messageId: 'requireValidFormGroups',
+        });
+      },
+    };
+  },
+};
diff --git a/tests/lib/rules/template-require-valid-form-groups.js b/tests/lib/rules/template-require-valid-form-groups.js
new file mode 100644
index 0000000000..7f7427201f
--- /dev/null
+++ b/tests/lib/rules/template-require-valid-form-groups.js
@@ -0,0 +1,168 @@
+const rule = require('../../../lib/rules/template-require-valid-form-groups');
+const RuleTester = require('eslint').RuleTester;
+
+const ruleTester = new RuleTester({
+  parser: require.resolve('ember-eslint-parser'),
+  parserOptions: { ecmaVersion: 2022, sourceType: 'module' },
+});
+
+ruleTester.run('template-require-valid-form-groups', rule, {
+  valid: [
+    `<template>
+      <fieldset>
+        <legend>Preferred Mascot Version</legend>
+        <div>
+          <label for="radio-001">Chicago Zoey</label>
+          <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey" />
+        </div>
+        <div>
+          <label for="radio-002">Office Hours Tomster</label>
+          <input
+            id="radio-002"
+            type="radio"
+            name="prefMascot-OfficeHoursTomster"
+            value="office hours tomster"
+          />
+        </div>
+        <div>
+          <label for="radio-003">A11y Zoey</label>
+          <input id="radio-003" type="radio" name="prefMascot-Zoey" value="a11y zoey" />
+        </div>
+      </fieldset>
+    </template>`,
+    `<template>
+      <div role="group" aria-labelledby="preferred-mascot-heading">
+        <div id="preferred-mascot-heading">Preferred Mascot Version</div>
+        <label for="radio-001">Chicago Zoey</label>
+        <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey" />
+        <label for="radio-002">Office Hours Tomster</label>
+        <input
+          id="radio-002"
+          type="radio"
+          name="prefMascot-OfficeHoursTomster"
+          value="office hours tomster"
+        />
+        <label for="radio-003">A11y Zoey</label>
+        <input id="radio-003" type="radio" name="prefMascot-Zoey" value="a11y zoey" />
+      </div>
+    </template>`,
+    `<template>
+      <div>
+        <label for="radio-001">Chicago Zoey</label>
+        <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey" />
+      </div>
+    </template>`,
+
+    `<template><fieldset>
+      <legend>Preferred Mascot Version</legend>
+      <div>
+        <label for="radio-001">Chicago Zoey</label>
+        <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey">
+      </div>
+      <div>
+        <label for="radio-002">Office Hours Tomster</label>
+        <input id="radio-002" type="radio" name="prefMascot-OfficeHoursTomster" value="office hours tomster">
+      </div>
+      <div>
+        <label for="radio-003">A11y Zoey</label>
+        <input id="radio-003" type="radio" name="prefMascot-Zoey" value="a11y zoey">
+      </div>
+    </fieldset></template>`,
+    `<template><div role="group" aria-labelledby="preferred-mascot-heading">
+      <div id="preferred-mascot-heading">Preferred Mascot Version</div>
+      <label for="radio-001">Chicago Zoey</label>
+      <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey">
+      <label for="radio-002">Office Hours Tomster</label>
+      <input id="radio-002" type="radio" name="prefMascot-OfficeHoursTomster" value="office hours tomster">
+      <label for="radio-003">A11y Zoey</label>
+      <input id="radio-003" type="radio" name="prefMascot-Zoey" value="a11y zoey">
+    </div></template>`,
+    `<template><div>
+      <label for="radio-001">Chicago Zoey</label>
+      <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey">
+    </div></template>`,
+  ],
+  invalid: [
+    {
+      code: '<template><div><input name="a1">Chicago Zoey<input name="a2">Chicago Tom</div></template>',
+      output: null,
+      errors: [{ messageId: 'requireValidFormGroups' }, { messageId: 'requireValidFormGroups' }],
+    },
+    {
+      code: '<template><div><input id="prefMascot-Zoey"><label for="prefMascot-Zoey" /><input id="prefMascot-tom"><label for="prefMascot-tom" /></div></template>',
+      output: null,
+      errors: [{ messageId: 'requireValidFormGroups' }, { messageId: 'requireValidFormGroups' }],
+    },
+  ],
+});
+
+const hbsRuleTester = new RuleTester({
+  parser: require.resolve('ember-eslint-parser/hbs'),
+  parserOptions: {
+    ecmaVersion: 2022,
+    sourceType: 'module',
+  },
+});
+
+hbsRuleTester.run('template-require-valid-form-groups', rule, {
+  valid: [
+    `<fieldset>
+      <legend>Preferred Mascot Version</legend>
+      <div>
+        <label for="radio-001">Chicago Zoey</label>
+        <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey">
+      </div>
+      <div>
+        <label for="radio-002">Office Hours Tomster</label>
+        <input id="radio-002" type="radio" name="prefMascot-OfficeHoursTomster" value="office hours tomster">
+      </div>
+      <div>
+        <label for="radio-003">A11y Zoey</label>
+        <input id="radio-003" type="radio" name="prefMascot-Zoey" value="a11y zoey">
+      </div>
+    </fieldset>`,
+    `<div role="group" aria-labelledby="preferred-mascot-heading">
+      <div id="preferred-mascot-heading">Preferred Mascot Version</div>
+      <label for="radio-001">Chicago Zoey</label>
+      <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey">
+      <label for="radio-002">Office Hours Tomster</label>
+      <input id="radio-002" type="radio" name="prefMascot-OfficeHoursTomster" value="office hours tomster">
+      <label for="radio-003">A11y Zoey</label>
+      <input id="radio-003" type="radio" name="prefMascot-Zoey" value="a11y zoey">
+    </div>`,
+    `<div>
+      <label for="radio-001">Chicago Zoey</label>
+      <input id="radio-001" type="radio" name="prefMascot-Zoey" value="chicago zoey">
+    </div>`,
+  ],
+  invalid: [
+    {
+      code: '<div><input name="a1">Chicago Zoey<input name="a2">Chicago Tom</div>',
+      output: null,
+      errors: [
+        {
+          message:
+            'Grouped form controls should have appropriate semantics such as fieldset and legend or WAI-ARIA labels',
+        },
+        {
+          message:
+            'Grouped form controls should have appropriate semantics such as fieldset and legend or WAI-ARIA labels',
+        },
+      ],
+    },
+    {
+      code: '<div><input id="prefMascot-Zoey"><label for="prefMascot-Zoey" /><input id="prefMascot-tom"><label for="prefMascot-tom" /></div>',
+      output: null,
+      errors: [
+        {
+          message:
+            'Grouped form controls should have appropriate semantics such as fieldset and legend or WAI-ARIA labels',
+        },
+        {
+          message:
+            'Grouped form controls should have appropriate semantics such as fieldset and legend or WAI-ARIA labels',
+        },
+      ],
+    },
+  ],
+});