diff --git a/docs/tutorial/async-cmd.md b/docs/tutorial/async-cmd.md
new file mode 100644
index 0000000000..e7d46b249c
--- /dev/null
+++ b/docs/tutorial/async-cmd.md
@@ -0,0 +1,40 @@
+Typer allows you to use [async](https://docs.python.org/3/library/asyncio.html) functions.
+
+```Python
+{!../docs_src/async_cmd/async001.py!}
+```
+
+<div class="termy">
+
+```console
+$ python main.py
+
+Hello Async World
+```
+
+</div>
+
+It also works with commands, and you can mix regular and async commands:
+
+```Python
+{!../docs_src/async_cmd/async002.py!}
+```
+
+<div class="termy">
+
+```console
+$ python main.py sync
+
+Hello Sync World
+
+$ python main.py async
+
+Hello Async World
+```
+</div>
+
+!!! info
+    Under the hood, Typer is running your async functions with [asyncio.run()](https://docs.python.org/3/library/asyncio-runner.html#asyncio.run)
+
+!!! warning
+    Typer only supports async functions on Python 3.7+
diff --git a/docs_src/async_cmd/async001.py b/docs_src/async_cmd/async001.py
new file mode 100644
index 0000000000..bb4285f47e
--- /dev/null
+++ b/docs_src/async_cmd/async001.py
@@ -0,0 +1,14 @@
+import asyncio
+
+import typer
+
+app = typer.Typer()
+
+
+async def main():
+    await asyncio.sleep(0)
+    print("Hello Async World")
+
+
+if __name__ == "__main__":
+    typer.run(main)
diff --git a/docs_src/async_cmd/async002.py b/docs_src/async_cmd/async002.py
new file mode 100644
index 0000000000..9d2f47b8c4
--- /dev/null
+++ b/docs_src/async_cmd/async002.py
@@ -0,0 +1,20 @@
+import asyncio
+
+import typer
+
+app = typer.Typer()
+
+
+@app.command("sync")
+def command_sync():
+    print("Hello Sync World")
+
+
+@app.command("async")
+async def command_async():
+    await asyncio.sleep(0)
+    print("Hello Async World")
+
+
+if __name__ == "__main__":
+    app()
diff --git a/mkdocs.yml b/mkdocs.yml
index 8022a19589..6bfac160f0 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -50,6 +50,7 @@ nav:
           - Typer Callback: tutorial/commands/callback.md
           - One or Multiple Commands: tutorial/commands/one-or-multiple.md
           - Using the Context: tutorial/commands/context.md
+      - Async functions: tutorial/async-cmd.md
       - CLI Option autocompletion: tutorial/options-autocompletion.md
       - CLI Parameter Types:
           - CLI Parameter Types Intro: tutorial/parameter-types/index.md
diff --git a/pyproject.toml b/pyproject.toml
index 9b173bbe2b..d3c6d940ae 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -47,7 +47,7 @@ test = [
     "coverage >=6.2,<7.0",
     "pytest-xdist >=1.32.0,<4.0.0",
     "pytest-sugar >=0.9.4,<0.10.0",
-    "mypy ==0.910",
+    "mypy ==0.971",
     "black >=22.3.0,<23.0.0",
     "isort >=5.0.6,<6.0.0",
     "rich >=10.11.0,<14.0.0",
diff --git a/tests/test_tutorial/test_async_cmd/__init__.py b/tests/test_tutorial/test_async_cmd/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/tests/test_tutorial/test_async_cmd/test_async001.py b/tests/test_tutorial/test_async_cmd/test_async001.py
new file mode 100644
index 0000000000..30004d8cdf
--- /dev/null
+++ b/tests/test_tutorial/test_async_cmd/test_async001.py
@@ -0,0 +1,45 @@
+import subprocess
+import sys
+
+import pytest
+import typer
+from typer.testing import CliRunner
+
+from docs_src.async_cmd import async001 as mod
+
+runner = CliRunner()
+
+
+@pytest.mark.skipif(
+    sys.version_info < (3, 7),
+    reason="typer support for async functions requires python3.7 or higher",
+)
+def test_cli():
+    app = typer.Typer()
+    app.command()(mod.main)
+    result = runner.invoke(app, [])
+    assert result.output == "Hello Async World\n"
+
+
+@pytest.mark.skipif(
+    sys.version_info < (3, 7),
+    reason="typer support for async functions requires python3.7 or higher",
+)
+def test_execute():
+    result = subprocess.run(
+        [sys.executable, "-m", "coverage", "run", mod.__file__],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        encoding="utf-8",
+    )
+    assert result.stdout == "Hello Async World\n"
+
+
+def test_script():
+    result = subprocess.run(
+        [sys.executable, "-m", "coverage", "run", mod.__file__, "--help"],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        encoding="utf-8",
+    )
+    assert "Usage" in result.stdout
diff --git a/tests/test_tutorial/test_async_cmd/test_async002.py b/tests/test_tutorial/test_async_cmd/test_async002.py
new file mode 100644
index 0000000000..24929e7a69
--- /dev/null
+++ b/tests/test_tutorial/test_async_cmd/test_async002.py
@@ -0,0 +1,59 @@
+import subprocess
+import sys
+
+import pytest
+from typer.testing import CliRunner
+
+from docs_src.async_cmd import async002 as mod
+
+app = mod.app
+
+runner = CliRunner()
+
+
+def test_command_sync():
+    result = runner.invoke(app, ["sync"])
+    assert result.output == "Hello Sync World\n"
+
+
+@pytest.mark.skipif(
+    sys.version_info < (3, 7),
+    reason="typer support for async functions requires python3.7 or higher",
+)
+def test_command_async():
+    result = runner.invoke(app, ["async"])
+    assert result.output == "Hello Async World\n"
+
+
+def test_execute_sync():
+    result = subprocess.run(
+        [sys.executable, "-m", "coverage", "run", mod.__file__, "sync"],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        encoding="utf-8",
+    )
+    assert result.stdout == "Hello Sync World\n"
+
+
+@pytest.mark.skipif(
+    sys.version_info < (3, 7),
+    reason="typer support for async functions requires python3.7 or higher",
+)
+def test_execute_async():
+    result = subprocess.run(
+        [sys.executable, "-m", "coverage", "run", mod.__file__, "async"],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        encoding="utf-8",
+    )
+    assert result.stdout == "Hello Async World\n"
+
+
+def test_script():
+    result = subprocess.run(
+        [sys.executable, "-m", "coverage", "run", mod.__file__, "--help"],
+        stdout=subprocess.PIPE,
+        stderr=subprocess.PIPE,
+        encoding="utf-8",
+    )
+    assert "Usage" in result.stdout
diff --git a/typer/_typing.py b/typer/_typing.py
index d906e2227d..bfa8114fcb 100644
--- a/typer/_typing.py
+++ b/typer/_typing.py
@@ -4,14 +4,13 @@
 
 import sys
 from os import PathLike
-from typing import (  # type: ignore
+from typing import (
     TYPE_CHECKING,
     AbstractSet,
     Any,
     ClassVar,
     Dict,
     Generator,
-    Iterable,
     List,
     Mapping,
     NewType,
diff --git a/typer/completion.py b/typer/completion.py
index 2712d08da4..c42ad95b81 100644
--- a/typer/completion.py
+++ b/typer/completion.py
@@ -1,6 +1,6 @@
 import os
 import sys
-from typing import Any, Dict, Tuple
+from typing import Any, MutableMapping, Tuple
 
 import click
 
@@ -120,7 +120,7 @@ def completion_init() -> None:
 # This is only called in new Command method, only used by Click 8.x+
 def shell_complete(
     cli: click.BaseCommand,
-    ctx_args: Dict[str, Any],
+    ctx_args: MutableMapping[str, Any],
     prog_name: str,
     complete_var: str,
     instruction: str,
diff --git a/typer/core.py b/typer/core.py
index c0776368a6..0c73784c23 100644
--- a/typer/core.py
+++ b/typer/core.py
@@ -9,6 +9,7 @@
     Callable,
     Dict,
     List,
+    MutableMapping,
     Optional,
     Sequence,
     TextIO,
@@ -634,7 +635,7 @@ def _typer_format_options(
 def _typer_main_shell_completion(
     self: click.core.Command,
     *,
-    ctx_args: Dict[str, Any],
+    ctx_args: MutableMapping[str, Any],
     prog_name: str,
     complete_var: Optional[str] = None,
 ) -> None:
@@ -696,7 +697,7 @@ def format_options(
 
     def _main_shell_completion(
         self,
-        ctx_args: Dict[str, Any],
+        ctx_args: MutableMapping[str, Any],
         prog_name: str,
         complete_var: Optional[str] = None,
     ) -> None:
@@ -758,7 +759,7 @@ def format_options(
 
     def _main_shell_completion(
         self,
-        ctx_args: Dict[str, Any],
+        ctx_args: MutableMapping[str, Any],
         prog_name: str,
         complete_var: Optional[str] = None,
     ) -> None:
diff --git a/typer/main.py b/typer/main.py
index aa39e82849..e7464ccb19 100644
--- a/typer/main.py
+++ b/typer/main.py
@@ -8,7 +8,18 @@
 from pathlib import Path
 from traceback import FrameSummary, StackSummary
 from types import TracebackType
-from typing import Any, Callable, Dict, List, Optional, Sequence, Tuple, Type, Union
+from typing import (
+    Any,
+    Callable,
+    Dict,
+    List,
+    Optional,
+    Sequence,
+    Tuple,
+    Type,
+    Union,
+    cast,
+)
 from uuid import UUID
 
 import click
@@ -34,7 +45,7 @@
     Required,
     TyperInfo,
 )
-from .utils import get_params_from_function
+from .utils import ensure_sync, get_params_from_function
 
 try:
     import rich
@@ -51,7 +62,7 @@
 
 
 def except_hook(
-    exc_type: Type[BaseException], exc_value: BaseException, tb: TracebackType
+    exc_type: Type[BaseException], exc_value: BaseException, tb: Optional[TracebackType]
 ) -> None:
     exception_config: Union[DeveloperExceptionConfig, None] = getattr(
         exc_value, _typer_developer_exception_attr_name, None
@@ -235,6 +246,8 @@ def command(
             cls = TyperCommand
 
         def decorator(f: CommandFunctionType) -> CommandFunctionType:
+            f = cast(CommandFunctionType, ensure_sync(f))
+
             self.registered_commands.append(
                 CommandInfo(
                     name=name,
diff --git a/typer/utils.py b/typer/utils.py
index 44816e2420..9518059575 100644
--- a/typer/utils.py
+++ b/typer/utils.py
@@ -1,8 +1,21 @@
 import inspect
 from copy import copy
-from typing import Any, Callable, Dict, List, Tuple, Type, cast, get_type_hints
-
-from typing_extensions import Annotated
+from functools import wraps
+from typing import (
+    Any,
+    Callable,
+    Coroutine,
+    Dict,
+    List,
+    Tuple,
+    Type,
+    TypeVar,
+    Union,
+    cast,
+    get_type_hints,
+)
+
+from typing_extensions import Annotated, ParamSpec
 
 from ._typing import get_args, get_origin
 from .models import ArgumentInfo, OptionInfo, ParameterInfo, ParamMeta
@@ -185,3 +198,23 @@ def get_params_from_function(func: Callable[..., Any]) -> Dict[str, ParamMeta]:
             name=param.name, default=default, annotation=annotation
         )
     return params
+
+
+P = ParamSpec("P")
+R = TypeVar("R")
+
+
+def ensure_sync(f: Callable[P, Union[R, Coroutine[Any, Any, R]]]) -> Callable[P, R]:
+    # If `f` is an async function, wrap it into asyncio.run(f)
+    if not inspect.iscoroutinefunction(f):
+        f_sync = cast(Callable[P, R], f)
+        return f_sync
+
+    @wraps(f)
+    def run_f(*args: P.args, **kwargs: P.kwargs) -> R:
+        import asyncio
+
+        f_async = cast(Callable[P, Coroutine[Any, Any, R]], f)
+        return asyncio.run(f_async(*args, **kwargs))
+
+    return run_f