diff --git a/packages/SettingsLib/src/com/android/settingslib/bluetooth/CachedBluetoothDeviceManager.java b/packages/SettingsLib/src/com/android/settingslib/bluetooth/CachedBluetoothDeviceManager.java
index 5662ce6bd8084..6bc1160a8d0ab 100644
--- a/packages/SettingsLib/src/com/android/settingslib/bluetooth/CachedBluetoothDeviceManager.java
+++ b/packages/SettingsLib/src/com/android/settingslib/bluetooth/CachedBluetoothDeviceManager.java
@@ -356,7 +356,7 @@ public class CachedBluetoothDeviceManager {
      * @return {@code true}, if the device should pair automatically; Otherwise, return
      * {@code false}.
      */
-    public synchronized boolean shouldPairByCsip(BluetoothDevice device, int groupId) {
+    private synchronized boolean shouldPairByCsip(BluetoothDevice device, int groupId) {
         boolean isOngoingSetMemberPair = mOngoingSetMemberPair != null;
         int bondState = device.getBondState();
         if (isOngoingSetMemberPair || bondState != BluetoothDevice.BOND_NONE
@@ -365,12 +365,46 @@ public class CachedBluetoothDeviceManager {
                     + " , device.getBondState: " + bondState);
             return false;
         }
-
-        Log.d(TAG, "Bond " + device.getName() + " by CSIP");
-        mOngoingSetMemberPair = device;
         return true;
     }
 
+    /**
+     * Called when we found a set member of a group. The function will check the {@code groupId} if
+     * it exists and the bond state of the device is BOND_NONE, and if there isn't any ongoing pair
+     * , and then pair the device automatically.
+     *
+     * @param device The found device
+     * @param groupId The group id of the found device
+     */
+    public synchronized void pairDeviceByCsip(BluetoothDevice device, int groupId) {
+        if (!shouldPairByCsip(device, groupId)) {
+            return;
+        }
+        Log.d(TAG, "Bond " + device.getAnonymizedAddress() + " by CSIP");
+        mOngoingSetMemberPair = device;
+        syncConfigFromMainDevice(device, groupId);
+        device.createBond(BluetoothDevice.TRANSPORT_LE);
+    }
+
+    private void syncConfigFromMainDevice(BluetoothDevice device, int groupId) {
+        if (!isOngoingPairByCsip(device)) {
+            return;
+        }
+        CachedBluetoothDevice memberDevice = findDevice(device);
+        CachedBluetoothDevice mainDevice = mCsipDeviceManager.findMainDevice(memberDevice);
+        if (mainDevice == null) {
+            mainDevice = mCsipDeviceManager.getCachedDevice(groupId);
+        }
+
+        if (mainDevice == null || mainDevice.equals(memberDevice)) {
+            Log.d(TAG, "no mainDevice");
+            return;
+        }
+
+        // The memberDevice set PhonebookAccessPermission
+        device.setPhonebookAccessPermission(mainDevice.getDevice().getPhonebookAccessPermission());
+    }
+
     /**
      * Called when the bond state change. If the bond state change is related with the
      * ongoing set member pair, the cachedBluetoothDevice will be created but the UI
diff --git a/packages/SettingsLib/src/com/android/settingslib/bluetooth/CsipDeviceManager.java b/packages/SettingsLib/src/com/android/settingslib/bluetooth/CsipDeviceManager.java
index d5de3f0525a09..20a6cd8e09ce2 100644
--- a/packages/SettingsLib/src/com/android/settingslib/bluetooth/CsipDeviceManager.java
+++ b/packages/SettingsLib/src/com/android/settingslib/bluetooth/CsipDeviceManager.java
@@ -101,7 +101,14 @@ public class CsipDeviceManager {
         return groupId != BluetoothCsipSetCoordinator.GROUP_ID_INVALID;
     }
 
-    private CachedBluetoothDevice getCachedDevice(int groupId) {
+    /**
+     * To find the device with {@code groupId}.
+     *
+     * @param groupId The group id
+     * @return if we could find a device with this {@code groupId} return this device. Otherwise,
+     * return null.
+     */
+    public CachedBluetoothDevice getCachedDevice(int groupId) {
         log("getCachedDevice: groupId: " + groupId);
         for (int i = mCachedDevices.size() - 1; i >= 0; i--) {
             CachedBluetoothDevice cachedDevice = mCachedDevices.get(i);
diff --git a/packages/SettingsLib/tests/robotests/src/com/android/settingslib/bluetooth/CachedBluetoothDeviceManagerTest.java b/packages/SettingsLib/tests/robotests/src/com/android/settingslib/bluetooth/CachedBluetoothDeviceManagerTest.java
index 62552f9144594..61802a87361cf 100644
--- a/packages/SettingsLib/tests/robotests/src/com/android/settingslib/bluetooth/CachedBluetoothDeviceManagerTest.java
+++ b/packages/SettingsLib/tests/robotests/src/com/android/settingslib/bluetooth/CachedBluetoothDeviceManagerTest.java
@@ -582,4 +582,24 @@ public class CachedBluetoothDeviceManagerTest {
         assertThat(mCachedDeviceManager.isSubDevice(mDevice2)).isTrue();
         assertThat(mCachedDeviceManager.isSubDevice(mDevice3)).isFalse();
     }
+
+    @Test
+    public void pairDeviceByCsip_device2AndCapGroup1_device2StartsPairing() {
+        doReturn(CAP_GROUP1).when(mCsipSetCoordinatorProfile).getGroupUuidMapByDevice(mDevice1);
+        when(mDevice1.getBondState()).thenReturn(BluetoothDevice.BOND_BONDED);
+        when(mDevice1.getPhonebookAccessPermission()).thenReturn(BluetoothDevice.ACCESS_ALLOWED);
+        CachedBluetoothDevice cachedDevice1 = mCachedDeviceManager.addDevice(mDevice1);
+        assertThat(cachedDevice1).isNotNull();
+        when(mDevice2.getBondState()).thenReturn(BluetoothDevice.BOND_NONE);
+        CachedBluetoothDevice cachedDevice2 = mCachedDeviceManager.addDevice(mDevice2);
+        assertThat(cachedDevice2).isNotNull();
+
+        int groupId = CAP_GROUP1.keySet().stream().findFirst().orElse(
+                BluetoothCsipSetCoordinator.GROUP_ID_INVALID);
+        assertThat(groupId).isNotEqualTo(BluetoothCsipSetCoordinator.GROUP_ID_INVALID);
+        mCachedDeviceManager.pairDeviceByCsip(mDevice2, groupId);
+
+        verify(mDevice2).setPhonebookAccessPermission(BluetoothDevice.ACCESS_ALLOWED);
+        verify(mDevice2).createBond(BluetoothDevice.TRANSPORT_LE);
+    }
 }