diff --git a/test/kokoro/xds_k8s.sh b/test/kokoro/xds_k8s.sh
index 4d1fda18a9f..dbe200962c1 100755
--- a/test/kokoro/xds_k8s.sh
+++ b/test/kokoro/xds_k8s.sh
@@ -129,7 +129,7 @@ run_test() {
 main() {
   local script_dir
   script_dir="$(dirname "$0")"
-  # shellcheck source=tools/internal_ci/linux/grpc_xds_k8s_install_test_driver.sh
+  # shellcheck source=test/kokoro/xds_k8s_install_test_driver.sh
   source "${script_dir}/xds_k8s_install_test_driver.sh"
   set -x
   if [[ -n "${KOKORO_ARTIFACTS_DIR}" ]]; then
diff --git a/test/kokoro/xds_url_map.cfg b/test/kokoro/xds_url_map.cfg
new file mode 100644
index 00000000000..f6fd84a419a
--- /dev/null
+++ b/test/kokoro/xds_url_map.cfg
@@ -0,0 +1,13 @@
+# Config file for internal CI
+
+# Location of the continuous shell script in repository.
+build_file: "grpc-go/test/kokoro/xds_url_map.sh"
+timeout_mins: 60
+
+action {
+  define_artifacts {
+    regex: "artifacts/**/*sponge_log.xml"
+    regex: "artifacts/**/*sponge_log.log"
+    strip_prefix: "artifacts"
+  }
+}
diff --git a/test/kokoro/xds_url_map.sh b/test/kokoro/xds_url_map.sh
new file mode 100755
index 00000000000..f30fd1a15b5
--- /dev/null
+++ b/test/kokoro/xds_url_map.sh
@@ -0,0 +1,134 @@
+#!/usr/bin/env bash
+# Copyright 2021 gRPC authors.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -eo pipefail
+
+# Constants
+readonly GITHUB_REPOSITORY_NAME="grpc-go"
+# GKE Cluster
+readonly GKE_CLUSTER_NAME="interop-test-psm-sec-v2-us-central1-a"
+readonly GKE_CLUSTER_ZONE="us-central1-a"
+## xDS test client Docker images
+readonly CLIENT_IMAGE_NAME="gcr.io/grpc-testing/xds-interop/go-client"
+readonly FORCE_IMAGE_BUILD="${FORCE_IMAGE_BUILD:-0}"
+
+#######################################
+# Builds test app Docker images and pushes them to GCR
+# Globals:
+#   CLIENT_IMAGE_NAME: Test client Docker image name
+#   GIT_COMMIT: SHA-1 of git commit being built
+# Arguments:
+#   None
+# Outputs:
+#   Writes the output of `gcloud builds submit` to stdout, stderr
+#######################################
+build_test_app_docker_images() {
+  echo "Building Go xDS interop test app Docker images"
+  docker build -f "${SRC_DIR}/interop/xds/client/Dockerfile" -t "${CLIENT_IMAGE_NAME}:${GIT_COMMIT}" "${SRC_DIR}"
+  gcloud -q auth configure-docker
+  docker push "${CLIENT_IMAGE_NAME}:${GIT_COMMIT}"
+}
+
+#######################################
+# Builds test app and its docker images unless they already exist
+# Globals:
+#   CLIENT_IMAGE_NAME: Test client Docker image name
+#   GIT_COMMIT: SHA-1 of git commit being built
+#   FORCE_IMAGE_BUILD
+# Arguments:
+#   None
+# Outputs:
+#   Writes the output to stdout, stderr
+#######################################
+build_docker_images_if_needed() {
+  # Check if images already exist
+  client_tags="$(gcloud_gcr_list_image_tags "${CLIENT_IMAGE_NAME}" "${GIT_COMMIT}")"
+  printf "Client image: %s:%s\n" "${CLIENT_IMAGE_NAME}" "${GIT_COMMIT}"
+  echo "${client_tags:-Client image not found}"
+
+  # Build if any of the images are missing, or FORCE_IMAGE_BUILD=1
+  if [[ "${FORCE_IMAGE_BUILD}" == "1" || -z "${client_tags}" ]]; then
+    build_test_app_docker_images
+  else
+    echo "Skipping Go test app build"
+  fi
+}
+
+#######################################
+# Executes the test case
+# Globals:
+#   TEST_DRIVER_FLAGFILE: Relative path to test driver flagfile
+#   KUBE_CONTEXT: The name of kubectl context with GKE cluster access
+#   TEST_XML_OUTPUT_DIR: Output directory for the test xUnit XML report
+#   CLIENT_IMAGE_NAME: Test client Docker image name
+#   GIT_COMMIT: SHA-1 of git commit being built
+# Arguments:
+#   Test case name
+# Outputs:
+#   Writes the output of test execution to stdout, stderr
+#   Test xUnit report to ${TEST_XML_OUTPUT_DIR}/${test_name}/sponge_log.xml
+#######################################
+run_test() {
+  # Test driver usage:
+  # https://github.com/grpc/grpc/tree/master/tools/run_tests/xds_k8s_test_driver#basic-usage
+  local test_name="${1:?Usage: run_test test_name}"
+  set -x
+  python -m "tests.${test_name}" \
+    --flagfile="${TEST_DRIVER_FLAGFILE}" \
+    --kube_context="${KUBE_CONTEXT}" \
+    --client_image="${CLIENT_IMAGE_NAME}:${GIT_COMMIT}" \
+    --xml_output_file="${TEST_XML_OUTPUT_DIR}/${test_name}/sponge_log.xml" \
+    --flagfile="config/url-map.cfg"
+  set +x
+}
+
+#######################################
+# Main function: provision software necessary to execute tests, and run them
+# Globals:
+#   KOKORO_ARTIFACTS_DIR
+#   GITHUB_REPOSITORY_NAME
+#   SRC_DIR: Populated with absolute path to the source repo
+#   TEST_DRIVER_REPO_DIR: Populated with the path to the repo containing
+#                         the test driver
+#   TEST_DRIVER_FULL_DIR: Populated with the path to the test driver source code
+#   TEST_DRIVER_FLAGFILE: Populated with relative path to test driver flagfile
+#   TEST_XML_OUTPUT_DIR: Populated with the path to test xUnit XML report
+#   GIT_ORIGIN_URL: Populated with the origin URL of git repo used for the build
+#   GIT_COMMIT: Populated with the SHA-1 of git commit being built
+#   GIT_COMMIT_SHORT: Populated with the short SHA-1 of git commit being built
+#   KUBE_CONTEXT: Populated with name of kubectl context with GKE cluster access
+# Arguments:
+#   None
+# Outputs:
+#   Writes the output of test execution to stdout, stderr
+#######################################
+main() {
+  local script_dir
+  script_dir="$(dirname "$0")"
+  # shellcheck source=test/kokoro/xds_k8s_install_test_driver.sh
+  source "${script_dir}/xds_k8s_install_test_driver.sh"
+  set -x
+  if [[ -n "${KOKORO_ARTIFACTS_DIR}" ]]; then
+    kokoro_setup_test_driver "${GITHUB_REPOSITORY_NAME}"
+  else
+    local_setup_test_driver "${script_dir}"
+  fi
+  build_docker_images_if_needed
+  # Run tests
+  cd "${TEST_DRIVER_FULL_DIR}"
+  run_test url_map
+}
+
+main "$@"