diff --git a/docs/sql-ref-syntax-qry-select.md b/docs/sql-ref-syntax-qry-select.md
index ea5c4a69d9ab6..22c4d78605b44 100644
--- a/docs/sql-ref-syntax-qry-select.md
+++ b/docs/sql-ref-syntax-qry-select.md
@@ -83,6 +83,8 @@ SELECT [ hints , ... ] [ ALL | DISTINCT ] { [ [ named_expression | regex_column_
      Specifies a source of input for the query. It can be one of the following:
      * Table relation
      * [Join relation](sql-ref-syntax-qry-select-join.html)
+     * [Pivot relation](sql-ref-syntax-qry-select-pivot.md)
+     * [Unpivot relation](sql-ref-syntax-qry-select-unpivot.md)
      * [Table-value function](sql-ref-syntax-qry-select-tvf.html)
      * [Inline table](sql-ref-syntax-qry-select-inline-table.html)
      * [ [LATERAL](sql-ref-syntax-qry-select-lateral-subquery.html) ] ( Subquery )
diff --git a/sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBaseParser.g4 b/sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBaseParser.g4
index a3c5f4a7b0709..21747a0a021f2 100644
--- a/sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBaseParser.g4
+++ b/sql/catalyst/src/main/antlr4/org/apache/spark/sql/catalyst/parser/SqlBaseParser.g4
@@ -697,7 +697,13 @@ setQuantifier
     ;
 
 relation
-    : LATERAL? relationPrimary joinRelation*
+    : LATERAL? relationPrimary relationExtension*
+    ;
+
+relationExtension
+    : joinRelation
+    | pivotClause
+    | unpivotClause
     ;
 
 joinRelation
diff --git a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala
index 4adb70bc3909f..d56ef28bcc32b 100644
--- a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala
+++ b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/parser/AstBuilder.scala
@@ -929,7 +929,7 @@ class AstBuilder extends SqlBaseParserBaseVisitor[AnyRef] with SQLConfHelper wit
           Join(left, right, Inner, None, JoinHint.NONE)
         }
       }
-      if (conf.ansiRelationPrecedence) join else withJoinRelations(join, relation)
+      if (conf.ansiRelationPrecedence) join else withRelationExtensions(relation, join)
     }
     if (ctx.pivotClause() != null) {
       if (ctx.unpivotClause() != null) {
@@ -1263,60 +1263,71 @@ class AstBuilder extends SqlBaseParserBaseVisitor[AnyRef] with SQLConfHelper wit
    * }}}
    */
   override def visitRelation(ctx: RelationContext): LogicalPlan = withOrigin(ctx) {
-    withJoinRelations(plan(ctx.relationPrimary), ctx)
+    withRelationExtensions(ctx, plan(ctx.relationPrimary))
+  }
+
+  private def withRelationExtensions(ctx: RelationContext, query: LogicalPlan): LogicalPlan = {
+    ctx.relationExtension().asScala.foldLeft(query) { (left, extension) =>
+      if (extension.joinRelation() != null) {
+        withJoinRelation(extension.joinRelation(), left)
+      } else if (extension.pivotClause() != null) {
+        withPivot(extension.pivotClause(), left)
+      } else {
+        assert(extension.unpivotClause() != null)
+        withUnpivot(extension.unpivotClause(), left)
+      }
+    }
   }
 
   /**
-   * Join one more [[LogicalPlan]]s to the current logical plan.
+   * Join one more [[LogicalPlan]] to the current logical plan.
    */
-  private def withJoinRelations(base: LogicalPlan, ctx: RelationContext): LogicalPlan = {
-    ctx.joinRelation.asScala.foldLeft(base) { (left, join) =>
-      withOrigin(join) {
-        val baseJoinType = join.joinType match {
-          case null => Inner
-          case jt if jt.CROSS != null => Cross
-          case jt if jt.FULL != null => FullOuter
-          case jt if jt.SEMI != null => LeftSemi
-          case jt if jt.ANTI != null => LeftAnti
-          case jt if jt.LEFT != null => LeftOuter
-          case jt if jt.RIGHT != null => RightOuter
-          case _ => Inner
-        }
+  private def withJoinRelation(ctx: JoinRelationContext, base: LogicalPlan): LogicalPlan = {
+    withOrigin(ctx) {
+      val baseJoinType = ctx.joinType match {
+        case null => Inner
+        case jt if jt.CROSS != null => Cross
+        case jt if jt.FULL != null => FullOuter
+        case jt if jt.SEMI != null => LeftSemi
+        case jt if jt.ANTI != null => LeftAnti
+        case jt if jt.LEFT != null => LeftOuter
+        case jt if jt.RIGHT != null => RightOuter
+        case _ => Inner
+      }
 
-        if (join.LATERAL != null && !join.right.isInstanceOf[AliasedQueryContext]) {
-          throw QueryParsingErrors.invalidLateralJoinRelationError(join.right)
-        }
+      if (ctx.LATERAL != null && !ctx.right.isInstanceOf[AliasedQueryContext]) {
+        throw QueryParsingErrors.invalidLateralJoinRelationError(ctx.right)
+      }
 
-        // Resolve the join type and join condition
-        val (joinType, condition) = Option(join.joinCriteria) match {
-          case Some(c) if c.USING != null =>
-            if (join.LATERAL != null) {
-              throw QueryParsingErrors.lateralJoinWithUsingJoinUnsupportedError(ctx)
-            }
-            (UsingJoin(baseJoinType, visitIdentifierList(c.identifierList)), None)
-          case Some(c) if c.booleanExpression != null =>
-            (baseJoinType, Option(expression(c.booleanExpression)))
-          case Some(c) =>
-            throw new IllegalStateException(s"Unimplemented joinCriteria: $c")
-          case None if join.NATURAL != null =>
-            if (join.LATERAL != null) {
-              throw QueryParsingErrors.lateralJoinWithNaturalJoinUnsupportedError(ctx)
-            }
-            if (baseJoinType == Cross) {
-              throw QueryParsingErrors.naturalCrossJoinUnsupportedError(ctx)
-            }
-            (NaturalJoin(baseJoinType), None)
-          case None =>
-            (baseJoinType, None)
-        }
-        if (join.LATERAL != null) {
-          if (!Seq(Inner, Cross, LeftOuter).contains(joinType)) {
-            throw QueryParsingErrors.unsupportedLateralJoinTypeError(ctx, joinType.sql)
+      // Resolve the join type and join condition
+      val (joinType, condition) = Option(ctx.joinCriteria) match {
+        case Some(c) if c.USING != null =>
+          if (ctx.LATERAL != null) {
+            throw QueryParsingErrors.lateralJoinWithUsingJoinUnsupportedError(ctx)
           }
-          LateralJoin(left, LateralSubquery(plan(join.right)), joinType, condition)
-        } else {
-          Join(left, plan(join.right), joinType, condition, JoinHint.NONE)
+          (UsingJoin(baseJoinType, visitIdentifierList(c.identifierList)), None)
+        case Some(c) if c.booleanExpression != null =>
+          (baseJoinType, Option(expression(c.booleanExpression)))
+        case Some(c) =>
+          throw new IllegalStateException(s"Unimplemented joinCriteria: $c")
+        case None if ctx.NATURAL != null =>
+          if (ctx.LATERAL != null) {
+            throw QueryParsingErrors.lateralJoinWithNaturalJoinUnsupportedError(ctx)
+          }
+          if (baseJoinType == Cross) {
+            throw QueryParsingErrors.naturalCrossJoinUnsupportedError(ctx)
+          }
+          (NaturalJoin(baseJoinType), None)
+        case None =>
+          (baseJoinType, None)
+      }
+      if (ctx.LATERAL != null) {
+        if (!Seq(Inner, Cross, LeftOuter).contains(joinType)) {
+          throw QueryParsingErrors.unsupportedLateralJoinTypeError(ctx, joinType.sql)
         }
+        LateralJoin(base, LateralSubquery(plan(ctx.right)), joinType, condition)
+      } else {
+        Join(base, plan(ctx.right), joinType, condition, JoinHint.NONE)
       }
     }
   }
diff --git a/sql/catalyst/src/main/scala/org/apache/spark/sql/errors/QueryParsingErrors.scala b/sql/catalyst/src/main/scala/org/apache/spark/sql/errors/QueryParsingErrors.scala
index 8608d4ff306ef..9624a06d80a64 100644
--- a/sql/catalyst/src/main/scala/org/apache/spark/sql/errors/QueryParsingErrors.scala
+++ b/sql/catalyst/src/main/scala/org/apache/spark/sql/errors/QueryParsingErrors.scala
@@ -99,15 +99,15 @@ private[sql] object QueryParsingErrors extends QueryErrorsBase {
       ctx)
   }
 
-  def unpivotWithPivotInFromClauseNotAllowedError(ctx: FromClauseContext): Throwable = {
+  def unpivotWithPivotInFromClauseNotAllowedError(ctx: ParserRuleContext): Throwable = {
     new ParseException("UNPIVOT cannot be used together with PIVOT in FROM clause", ctx)
   }
 
-  def lateralWithPivotInFromClauseNotAllowedError(ctx: FromClauseContext): Throwable = {
+  def lateralWithPivotInFromClauseNotAllowedError(ctx: ParserRuleContext): Throwable = {
     new ParseException(errorClass = "_LEGACY_ERROR_TEMP_0013", ctx)
   }
 
-  def lateralWithUnpivotInFromClauseNotAllowedError(ctx: FromClauseContext): Throwable = {
+  def lateralWithUnpivotInFromClauseNotAllowedError(ctx: ParserRuleContext): Throwable = {
     new ParseException("LATERAL cannot be used together with UNPIVOT in FROM clause", ctx)
   }
 
@@ -164,7 +164,7 @@ private[sql] object QueryParsingErrors extends QueryErrorsBase {
       ctx)
   }
 
-  def naturalCrossJoinUnsupportedError(ctx: RelationContext): Throwable = {
+  def naturalCrossJoinUnsupportedError(ctx: ParserRuleContext): Throwable = {
     new ParseException(
       errorClass = "UNSUPPORTED_FEATURE.NATURAL_CROSS_JOIN",
       messageParameters = Map.empty,
diff --git a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/parser/UnpivotParserSuite.scala b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/parser/UnpivotParserSuite.scala
index dd7e4ec4916fc..c680e08c1c832 100644
--- a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/parser/UnpivotParserSuite.scala
+++ b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/parser/UnpivotParserSuite.scala
@@ -19,6 +19,7 @@ package org.apache.spark.sql.catalyst.parser
 
 import org.apache.spark.sql.catalyst.analysis._
 import org.apache.spark.sql.catalyst.plans.logical.{LogicalPlan, Unpivot}
+import org.apache.spark.sql.internal.SQLConf
 
 class UnpivotParserSuite extends AnalysisTest {
 
@@ -192,4 +193,151 @@ class UnpivotParserSuite extends AnalysisTest {
     )
   }
 
+  test("unpivot - with joins") {
+    // unpivot the left table
+    assertEqual(
+      "SELECT * FROM t1 UNPIVOT (val FOR col in (a, b)) JOIN t2",
+      Unpivot(
+        None,
+        Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+        None,
+        "col",
+        Seq("val"),
+        table("t1")
+      ).where(coalesce($"val").isNotNull).join(table("t2")).select(star()))
+
+    // unpivot the join result
+    assertEqual(
+      "SELECT * FROM t1 JOIN t2 UNPIVOT (val FOR col in (a, b))",
+      Unpivot(
+        None,
+        Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+        None,
+        "col",
+        Seq("val"),
+        table("t1").join(table("t2"))
+      ).where(coalesce($"val").isNotNull).select(star()))
+
+    // unpivot the right table
+    assertEqual(
+      "SELECT * FROM t1 JOIN (t2 UNPIVOT (val FOR col in (a, b)))",
+      table("t1").join(
+        Unpivot(
+          None,
+          Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+          None,
+          "col",
+          Seq("val"),
+          table("t2")
+        ).where(coalesce($"val").isNotNull)
+      ).select(star()))
+  }
+
+  test("unpivot - with implicit joins") {
+    // unpivot the left table
+    assertEqual(
+      "SELECT * FROM t1 UNPIVOT (val FOR col in (a, b)), t2",
+      Unpivot(
+        None,
+        Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+        None,
+        "col",
+        Seq("val"),
+        table("t1")
+      ).where(coalesce($"val").isNotNull).join(table("t2")).select(star()))
+
+    // unpivot the join result
+    assertEqual(
+      "SELECT * FROM t1, t2 UNPIVOT (val FOR col in (a, b))",
+      Unpivot(
+        None,
+        Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+        None,
+        "col",
+        Seq("val"),
+        table("t1").join(table("t2"))
+      ).where(coalesce($"val").isNotNull).select(star()))
+
+    // unpivot the right table - same SQL as above but with ANSI mode
+    withSQLConf(
+      SQLConf.ANSI_ENABLED.key -> "true",
+      SQLConf.ANSI_RELATION_PRECEDENCE.key -> "true") {
+      assertEqual(
+        "SELECT * FROM t1, t2 UNPIVOT (val FOR col in (a, b))",
+        table("t1").join(
+          Unpivot(
+            None,
+            Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+            None,
+            "col",
+            Seq("val"),
+            table("t2")
+          ).where(coalesce($"val").isNotNull)
+        ).select(star()))
+    }
+
+    // unpivot the right table
+    assertEqual(
+      "SELECT * FROM t1, (t2 UNPIVOT (val FOR col in (a, b)))",
+      table("t1").join(
+        Unpivot(
+          None,
+          Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+          None,
+          "col",
+          Seq("val"),
+          table("t2")
+        ).where(coalesce($"val").isNotNull)
+      ).select(star()))
+
+    // mixed with explicit joins
+    assertEqual(
+      // unpivot the join result of t1, t2 and t3
+      "SELECT * FROM t1, t2 JOIN t3 UNPIVOT (val FOR col in (a, b))",
+      Unpivot(
+        None,
+        Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+        None,
+        "col",
+        Seq("val"),
+        table("t1").join(table("t2")).join(table("t3"))
+      ).where(coalesce($"val").isNotNull).select(star()))
+    withSQLConf(
+      SQLConf.ANSI_ENABLED.key -> "true",
+      SQLConf.ANSI_RELATION_PRECEDENCE.key -> "true") {
+      assertEqual(
+        // unpivot the join result of t2 and t3
+        "SELECT * FROM t1, t2 JOIN t3 UNPIVOT (val FOR col in (a, b))",
+        table("t1").join(
+          Unpivot(
+            None,
+            Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+            None,
+            "col",
+            Seq("val"),
+            table("t2").join(table("t3"))
+          ).where(coalesce($"val").isNotNull)
+        ).select(star()))
+    }
+  }
+
+  test("unpivot - nested unpivot") {
+    assertEqual(
+      "SELECT * FROM t1 UNPIVOT (val FOR col in (a, b)) UNPIVOT (val FOR col in (a, b))",
+      Unpivot(
+        None,
+        Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+        None,
+        "col",
+        Seq("val"),
+        Unpivot(
+          None,
+          Some(Seq(Seq(UnresolvedAlias($"a")), Seq(UnresolvedAlias($"b")))),
+          None,
+          "col",
+          Seq("val"),
+          table("t1")
+        ).where(coalesce($"val").isNotNull)
+      ).where(coalesce($"val").isNotNull).select(star()))
+  }
 }