diff --git a/packages/block-library/src/heading/autogenerate-anchors.js b/packages/block-library/src/heading/autogenerate-anchors.js
new file mode 100644
index 00000000000000..ba8150e6e7e69e
--- /dev/null
+++ b/packages/block-library/src/heading/autogenerate-anchors.js
@@ -0,0 +1,65 @@
+/**
+ * External dependencies
+ */
+import { deburr, trim } from 'lodash';
+
+/**
+ * Returns the text without markup.
+ *
+ * @param {string} text The text.
+ *
+ * @return {string} The text without markup.
+ */
+const getTextWithoutMarkup = ( text ) => {
+	const dummyElement = document.createElement( 'div' );
+	dummyElement.innerHTML = text;
+	return dummyElement.innerText;
+};
+
+/**
+ * Get the slug from the content.
+ *
+ * @param {string} content The block content.
+ *
+ * @return {string} Returns the slug.
+ */
+const getSlug = ( content ) => {
+	// Get the slug.
+	return trim(
+		deburr( getTextWithoutMarkup( content ) )
+			.replace( /[^\p{L}\p{N}]+/gu, '-' )
+			.toLowerCase(),
+		'-'
+	);
+};
+
+/**
+ * Generate the anchor for a heading.
+ *
+ * @param {string}   clientId          The block ID.
+ * @param {string}   content           The block content.
+ * @param {string[]} allHeadingAnchors An array containing all headings anchors.
+ *
+ * @return {string|null} Return the heading anchor.
+ */
+export const generateAnchor = ( clientId, content, allHeadingAnchors ) => {
+	const slug = getSlug( content );
+	// If slug is empty, then return null.
+	// Returning null instead of an empty string allows us to check again when the content changes.
+	if ( '' === slug ) {
+		return null;
+	}
+
+	delete allHeadingAnchors[ clientId ];
+
+	let anchor = slug;
+	let i = 0;
+
+	// If the anchor already exists in another heading, append -i.
+	while ( Object.values( allHeadingAnchors ).includes( anchor ) ) {
+		i += 1;
+		anchor = slug + '-' + i;
+	}
+
+	return anchor;
+};
diff --git a/packages/block-library/src/heading/edit.js b/packages/block-library/src/heading/edit.js
index 023184969babd6..9ca81e0410a66b 100644
--- a/packages/block-library/src/heading/edit.js
+++ b/packages/block-library/src/heading/edit.js
@@ -7,6 +7,7 @@ import classnames from 'classnames';
  * WordPress dependencies
  */
 import { __ } from '@wordpress/i18n';
+import { useEffect } from '@wordpress/element';
 import { createBlock } from '@wordpress/blocks';
 import {
 	AlignmentControl,
@@ -19,6 +20,9 @@ import {
  * Internal dependencies
  */
 import HeadingLevelDropdown from './heading-level-dropdown';
+import { generateAnchor } from './autogenerate-anchors';
+
+const allHeadingAnchors = {};
 
 function HeadingEdit( {
 	attributes,
@@ -28,7 +32,7 @@ function HeadingEdit( {
 	style,
 	clientId,
 } ) {
-	const { textAlign, content, level, placeholder } = attributes;
+	const { textAlign, content, level, placeholder, anchor } = attributes;
 	const tagName = 'h' + level;
 	const blockProps = useBlockProps( {
 		className: classnames( {
@@ -37,6 +41,33 @@ function HeadingEdit( {
 		style,
 	} );
 
+	// Initially set anchor for headings that have content but no anchor set.
+	// This is used when transforming a block to heading, or for legacy anchors.
+	useEffect( () => {
+		if ( ! anchor && content ) {
+			setAttributes( {
+				anchor: generateAnchor( clientId, content, allHeadingAnchors ),
+			} );
+		}
+		allHeadingAnchors[ clientId ] = anchor;
+	}, [ content, anchor ] );
+
+	const onContentChange = ( value ) => {
+		const newAttrs = { content: value };
+		if (
+			! anchor ||
+			! value ||
+			generateAnchor( clientId, content, allHeadingAnchors ) === anchor
+		) {
+			newAttrs.anchor = generateAnchor(
+				clientId,
+				value,
+				allHeadingAnchors
+			);
+		}
+		setAttributes( newAttrs );
+	};
+
 	return (
 		<>
 			<BlockControls group="block">
@@ -57,7 +88,7 @@ function HeadingEdit( {
 				identifier="content"
 				tagName={ tagName }
 				value={ content }
-				onChange={ ( value ) => setAttributes( { content: value } ) }
+				onChange={ onContentChange }
 				onMerge={ mergeBlocks }
 				onSplit={ ( value, isOriginal ) => {
 					let block;
diff --git a/packages/e2e-tests/specs/editor/blocks/__snapshots__/heading.test.js.snap b/packages/e2e-tests/specs/editor/blocks/__snapshots__/heading.test.js.snap
index c340a475f354a1..290019372feeb3 100644
--- a/packages/e2e-tests/specs/editor/blocks/__snapshots__/heading.test.js.snap
+++ b/packages/e2e-tests/specs/editor/blocks/__snapshots__/heading.test.js.snap
@@ -2,25 +2,25 @@
 
 exports[`Heading can be created by prefixing existing content with number signs and a space 1`] = `
 "<!-- wp:heading {\\"level\\":4} -->
-<h4>4</h4>
+<h4 id=\\"4\\">4</h4>
 <!-- /wp:heading -->"
 `;
 
 exports[`Heading can be created by prefixing number sign and a space 1`] = `
 "<!-- wp:heading {\\"level\\":3} -->
-<h3>3</h3>
+<h3 id=\\"3\\">3</h3>
 <!-- /wp:heading -->"
 `;
 
 exports[`Heading should correctly apply custom colors 1`] = `
 "<!-- wp:heading {\\"level\\":3,\\"style\\":{\\"color\\":{\\"text\\":\\"#7700ff\\"}}} -->
-<h3 class=\\"has-text-color\\" style=\\"color:#7700ff\\">Heading</h3>
+<h3 class=\\"has-text-color\\" id=\\"heading\\" style=\\"color:#7700ff\\">Heading</h3>
 <!-- /wp:heading -->"
 `;
 
 exports[`Heading should correctly apply named colors 1`] = `
 "<!-- wp:heading {\\"textColor\\":\\"luminous-vivid-orange\\"} -->
-<h2 class=\\"has-luminous-vivid-orange-color has-text-color\\">Heading</h2>
+<h2 class=\\"has-luminous-vivid-orange-color has-text-color\\" id=\\"heading\\">Heading</h2>
 <!-- /wp:heading -->"
 `;
 
@@ -30,13 +30,13 @@ exports[`Heading should create a paragraph block above when pressing enter at th
 <!-- /wp:paragraph -->
 
 <!-- wp:heading -->
-<h2>a</h2>
+<h2 id=\\"a\\">a</h2>
 <!-- /wp:heading -->"
 `;
 
 exports[`Heading should create a paragraph block below when pressing enter at the end 1`] = `
 "<!-- wp:heading -->
-<h2>a</h2>
+<h2 id=\\"a\\">a</h2>
 <!-- /wp:heading -->
 
 <!-- wp:paragraph -->
@@ -46,12 +46,12 @@ exports[`Heading should create a paragraph block below when pressing enter at th
 
 exports[`Heading should not work with the list input rule 1`] = `
 "<!-- wp:heading -->
-<h2>1. H</h2>
+<h2 id=\\"1-h\\">1. H</h2>
 <!-- /wp:heading -->"
 `;
 
 exports[`Heading should work with the format input rules 1`] = `
 "<!-- wp:heading -->
-<h2><code>code</code></h2>
+<h2 id=\\"code\\"><code>code</code></h2>
 <!-- /wp:heading -->"
 `;
diff --git a/packages/e2e-tests/specs/editor/blocks/__snapshots__/quote.test.js.snap b/packages/e2e-tests/specs/editor/blocks/__snapshots__/quote.test.js.snap
index 57fcc6c61dbdd0..6345efae5ed728 100644
--- a/packages/e2e-tests/specs/editor/blocks/__snapshots__/quote.test.js.snap
+++ b/packages/e2e-tests/specs/editor/blocks/__snapshots__/quote.test.js.snap
@@ -40,7 +40,7 @@ exports[`Quote can be converted to paragraphs and renders only one paragraph for
 
 exports[`Quote can be created by converting a heading 1`] = `
 "<!-- wp:quote -->
-<blockquote class=\\"wp-block-quote\\"><p>test</p></blockquote>
+<blockquote class=\\"wp-block-quote\\" id=\\"test\\"><p>test</p></blockquote>
 <!-- /wp:quote -->"
 `;
 
@@ -144,7 +144,7 @@ exports[`Quote can be split in the middle and merged back 4`] = `
 
 exports[`Quote is transformed to a heading and a quote if the quote contains a citation 1`] = `
 "<!-- wp:heading -->
-<h2>one</h2>
+<h2 id=\\"one\\">one</h2>
 <!-- /wp:heading -->
 
 <!-- wp:quote -->
@@ -154,7 +154,7 @@ exports[`Quote is transformed to a heading and a quote if the quote contains a c
 
 exports[`Quote is transformed to a heading and a quote if the quote contains multiple paragraphs 1`] = `
 "<!-- wp:heading -->
-<h2>one</h2>
+<h2 id=\\"one\\">one</h2>
 <!-- /wp:heading -->
 
 <!-- wp:quote -->
@@ -164,7 +164,7 @@ exports[`Quote is transformed to a heading and a quote if the quote contains mul
 
 exports[`Quote is transformed to a heading if the quote just contains one paragraph 1`] = `
 "<!-- wp:heading -->
-<h2>one</h2>
+<h2 id=\\"one\\">one</h2>
 <!-- /wp:heading -->"
 `;
 
@@ -176,7 +176,7 @@ exports[`Quote is transformed to an empty heading if the quote is empty 1`] = `
 
 exports[`Quote the resuling quote after transforming to a heading can be transformed again 1`] = `
 "<!-- wp:heading -->
-<h2>one</h2>
+<h2 id=\\"one\\">one</h2>
 <!-- /wp:heading -->
 
 <!-- wp:quote -->
@@ -186,11 +186,11 @@ exports[`Quote the resuling quote after transforming to a heading can be transfo
 
 exports[`Quote the resuling quote after transforming to a heading can be transformed again 2`] = `
 "<!-- wp:heading -->
-<h2>one</h2>
+<h2 id=\\"one\\">one</h2>
 <!-- /wp:heading -->
 
 <!-- wp:heading -->
-<h2>two</h2>
+<h2 id=\\"two\\">two</h2>
 <!-- /wp:heading -->
 
 <!-- wp:quote -->
@@ -200,14 +200,14 @@ exports[`Quote the resuling quote after transforming to a heading can be transfo
 
 exports[`Quote the resuling quote after transforming to a heading can be transformed again 3`] = `
 "<!-- wp:heading -->
-<h2>one</h2>
+<h2 id=\\"one\\">one</h2>
 <!-- /wp:heading -->
 
 <!-- wp:heading -->
-<h2>two</h2>
+<h2 id=\\"two\\">two</h2>
 <!-- /wp:heading -->
 
 <!-- wp:heading -->
-<h2>cite</h2>
+<h2 id=\\"cite\\">cite</h2>
 <!-- /wp:heading -->"
 `;
diff --git a/packages/e2e-tests/specs/editor/various/__snapshots__/block-grouping.test.js.snap b/packages/e2e-tests/specs/editor/various/__snapshots__/block-grouping.test.js.snap
index f3c24c200b971a..aeaafed4ea8a7a 100644
--- a/packages/e2e-tests/specs/editor/various/__snapshots__/block-grouping.test.js.snap
+++ b/packages/e2e-tests/specs/editor/various/__snapshots__/block-grouping.test.js.snap
@@ -3,7 +3,7 @@
 exports[`Block Grouping Group creation creates a group from multiple blocks of different types via block transforms 1`] = `
 "<!-- wp:group -->
 <div class=\\"wp-block-group\\"><!-- wp:heading -->
-<h2>Group Heading</h2>
+<h2 id=\\"group-heading\\">Group Heading</h2>
 <!-- /wp:heading -->
 
 <!-- wp:image -->
@@ -51,7 +51,7 @@ exports[`Block Grouping Group creation creates a group from multiple blocks of t
 exports[`Block Grouping Group creation groups and ungroups multiple blocks of different types via options toolbar 1`] = `
 "<!-- wp:group -->
 <div class=\\"wp-block-group\\"><!-- wp:heading -->
-<h2>Group Heading</h2>
+<h2 id=\\"group-heading\\">Group Heading</h2>
 <!-- /wp:heading -->
 
 <!-- wp:image -->
@@ -66,7 +66,7 @@ exports[`Block Grouping Group creation groups and ungroups multiple blocks of di
 
 exports[`Block Grouping Group creation groups and ungroups multiple blocks of different types via options toolbar 2`] = `
 "<!-- wp:heading -->
-<h2>Group Heading</h2>
+<h2 id=\\"group-heading\\">Group Heading</h2>
 <!-- /wp:heading -->
 
 <!-- wp:image -->
@@ -81,7 +81,7 @@ exports[`Block Grouping Group creation groups and ungroups multiple blocks of di
 exports[`Block Grouping Preserving selected blocks attributes preserves width alignment settings of selected blocks 1`] = `
 "<!-- wp:group {\\"align\\":\\"full\\"} -->
 <div class=\\"wp-block-group alignfull\\"><!-- wp:heading -->
-<h2>Group Heading</h2>
+<h2 id=\\"group-heading\\">Group Heading</h2>
 <!-- /wp:heading -->
 
 <!-- wp:image {\\"align\\":\\"full\\"} -->
diff --git a/packages/e2e-tests/specs/editor/various/__snapshots__/inserting-blocks.test.js.snap b/packages/e2e-tests/specs/editor/various/__snapshots__/inserting-blocks.test.js.snap
index ec465386aaf05d..b97b80ddf59aea 100644
--- a/packages/e2e-tests/specs/editor/various/__snapshots__/inserting-blocks.test.js.snap
+++ b/packages/e2e-tests/specs/editor/various/__snapshots__/inserting-blocks.test.js.snap
@@ -71,7 +71,7 @@ exports[`Inserting blocks inserts a block in proper place after having clicked \
 <!-- /wp:paragraph -->
 
 <!-- wp:heading -->
-<h2>Heading</h2>
+<h2 id=\\"heading\\">Heading</h2>
 <!-- /wp:heading -->
 
 <!-- wp:paragraph -->
@@ -93,7 +93,7 @@ exports[`Inserting blocks inserts a block in proper place after having clicked \
 <!-- /wp:cover -->
 
 <!-- wp:heading -->
-<h2>Heading</h2>
+<h2 id=\\"heading\\">Heading</h2>
 <!-- /wp:heading -->
 
 <!-- wp:paragraph -->
diff --git a/packages/e2e-tests/specs/widgets/editing-widgets.test.js b/packages/e2e-tests/specs/widgets/editing-widgets.test.js
index ff3a7cb65412f8..2cf7502ebca687 100644
--- a/packages/e2e-tests/specs/widgets/editing-widgets.test.js
+++ b/packages/e2e-tests/specs/widgets/editing-widgets.test.js
@@ -380,7 +380,7 @@ describe( 'Widgets screen', () => {
 		<p>First Paragraph</p>
 		</div></div>
 		<div class=\\"widget widget_block\\"><div class=\\"widget-content\\">
-		<h2>My Heading</h2>
+		<h2 id=\\"my-heading\\">My Heading</h2>
 		</div></div>
 		<div class=\\"widget widget_block widget_text\\"><div class=\\"widget-content\\">
 		<p>Second Paragraph</p>