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diff --git a/Marlin/src/gcode/feature/pause/M701_M702.cpp b/Marlin/src/gcode/feature/pause/M701_M702.cpp
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+++ b/Marlin/src/gcode/feature/pause/M701_M702.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../../inc/MarlinConfigPre.h"
+
+#if ENABLED(FILAMENT_LOAD_UNLOAD_GCODES)
+
+#include "../../gcode.h"
+#include "../../../MarlinCore.h"
+#include "../../../module/motion.h"
+#include "../../../module/temperature.h"
+#include "../../../feature/pause.h"
+#include "../../../lcd/marlinui.h"
+
+#if HAS_MULTI_EXTRUDER
+  #include "../../../module/tool_change.h"
+#endif
+
+#if HAS_PRUSA_MMU2
+  #include "../../../feature/mmu/mmu2.h"
+#endif
+
+#if ENABLED(MIXING_EXTRUDER)
+  #include "../../../feature/mixing.h"
+#endif
+
+/**
+ * M701: Load filament
+ *
+ *  T<extruder> - Extruder number. Required for mixing extruder.
+ *                For non-mixing, current extruder if omitted.
+ *  Z<distance> - Move the Z axis by this distance
+ *  L<distance> - Extrude distance for insertion (positive value) (manual reload)
+ *
+ *  Default values are used for omitted arguments.
+ */
+void GcodeSuite::M701() {
+  xyz_pos_t park_point = NOZZLE_PARK_POINT;
+
+  // Don't raise Z if the machine isn't homed
+  if (TERN0(NO_MOTION_BEFORE_HOMING, axes_should_home())) park_point.z = 0;
+
+  #if ENABLED(MIXING_EXTRUDER)
+    const int8_t target_e_stepper = get_target_e_stepper_from_command();
+    if (target_e_stepper < 0) return;
+
+    const uint8_t old_mixing_tool = mixer.get_current_vtool();
+    mixer.T(MIXER_DIRECT_SET_TOOL);
+
+    MIXER_STEPPER_LOOP(i) mixer.set_collector(i, (i == (uint8_t)target_e_stepper) ? 1.0 : 0.0);
+    mixer.normalize();
+
+    const int8_t target_extruder = active_extruder;
+  #else
+    const int8_t target_extruder = get_target_extruder_from_command();
+    if (target_extruder < 0) return;
+  #endif
+
+  // Z axis lift
+  if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
+
+  // Show initial "wait for load" message
+  ui.pause_show_message(PAUSE_MESSAGE_LOAD, PAUSE_MODE_LOAD_FILAMENT, target_extruder);
+
+  #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
+    // Change toolhead if specified
+    uint8_t active_extruder_before_filament_change = active_extruder;
+    if (active_extruder != target_extruder)
+      tool_change(target_extruder, false);
+  #endif
+
+  // Lift Z axis
+  if (park_point.z > 0)
+    do_blocking_move_to_z(_MIN(current_position.z + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+
+  // Load filament
+  #if HAS_PRUSA_MMU2
+    mmu2.load_filament_to_nozzle(target_extruder);
+  #else
+    constexpr float     purge_length = ADVANCED_PAUSE_PURGE_LENGTH,
+                    slow_load_length = FILAMENT_CHANGE_SLOW_LOAD_LENGTH;
+        const float fast_load_length = ABS(parser.seen('L') ? parser.value_axis_units(E_AXIS)
+                                                            : fc_settings[active_extruder].load_length);
+    load_filament(
+      slow_load_length, fast_load_length, purge_length,
+      FILAMENT_CHANGE_ALERT_BEEPS,
+      true,                                           // show_lcd
+      thermalManager.still_heating(target_extruder),  // pause_for_user
+      PAUSE_MODE_LOAD_FILAMENT                        // pause_mode
+      #if ENABLED(DUAL_X_CARRIAGE)
+        , target_extruder                             // Dual X target
+      #endif
+    );
+  #endif
+
+  // Restore Z axis
+  if (park_point.z > 0)
+    do_blocking_move_to_z(_MAX(current_position.z - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+
+  #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
+    // Restore toolhead if it was changed
+    if (active_extruder_before_filament_change != active_extruder)
+      tool_change(active_extruder_before_filament_change, false);
+  #endif
+
+  TERN_(MIXING_EXTRUDER, mixer.T(old_mixing_tool)); // Restore original mixing tool
+
+  // Show status screen
+  ui.pause_show_message(PAUSE_MESSAGE_STATUS);
+}
+
+/**
+ * M702: Unload filament
+ *
+ *  T<extruder> - Extruder number. Required for mixing extruder.
+ *                For non-mixing, if omitted, current extruder
+ *                (or ALL extruders with FILAMENT_UNLOAD_ALL_EXTRUDERS).
+ *  Z<distance> - Move the Z axis by this distance
+ *  U<distance> - Retract distance for removal (manual reload)
+ *
+ *  Default values are used for omitted arguments.
+ */
+void GcodeSuite::M702() {
+  xyz_pos_t park_point = NOZZLE_PARK_POINT;
+
+  // Don't raise Z if the machine isn't homed
+  if (TERN0(NO_MOTION_BEFORE_HOMING, axes_should_home())) park_point.z = 0;
+
+  #if ENABLED(MIXING_EXTRUDER)
+    const uint8_t old_mixing_tool = mixer.get_current_vtool();
+
+    #if ENABLED(FILAMENT_UNLOAD_ALL_EXTRUDERS)
+      float mix_multiplier = 1.0;
+      const bool seenT = parser.seenval('T');
+      if (!seenT) {
+        mixer.T(MIXER_AUTORETRACT_TOOL);
+        mix_multiplier = MIXING_STEPPERS;
+      }
+    #else
+      constexpr bool seenT = true;
+    #endif
+
+    if (seenT) {
+      const int8_t target_e_stepper = get_target_e_stepper_from_command();
+      if (target_e_stepper < 0) return;
+      mixer.T(MIXER_DIRECT_SET_TOOL);
+      MIXER_STEPPER_LOOP(i) mixer.set_collector(i, (i == (uint8_t)target_e_stepper) ? 1.0 : 0.0);
+      mixer.normalize();
+    }
+
+    const int8_t target_extruder = active_extruder;
+  #else
+    const int8_t target_extruder = get_target_extruder_from_command();
+    if (target_extruder < 0) return;
+  #endif
+
+  // Z axis lift
+  if (parser.seenval('Z')) park_point.z = parser.linearval('Z');
+
+  // Show initial "wait for unload" message
+  ui.pause_show_message(PAUSE_MESSAGE_UNLOAD, PAUSE_MODE_UNLOAD_FILAMENT, target_extruder);
+
+  #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
+    // Change toolhead if specified
+    uint8_t active_extruder_before_filament_change = active_extruder;
+    if (active_extruder != target_extruder)
+      tool_change(target_extruder, false);
+  #endif
+
+  // Lift Z axis
+  if (park_point.z > 0)
+    do_blocking_move_to_z(_MIN(current_position.z + park_point.z, Z_MAX_POS), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+
+  // Unload filament
+  #if HAS_PRUSA_MMU2
+    mmu2.unload();
+  #else
+    #if BOTH(HAS_MULTI_EXTRUDER, FILAMENT_UNLOAD_ALL_EXTRUDERS)
+      if (!parser.seenval('T')) {
+        HOTEND_LOOP() {
+          if (e != active_extruder) tool_change(e, false);
+          unload_filament(-fc_settings[e].unload_length, true, PAUSE_MODE_UNLOAD_FILAMENT);
+        }
+      }
+      else
+    #endif
+    {
+      // Unload length
+      const float unload_length = -ABS(parser.seen('U') ? parser.value_axis_units(E_AXIS)
+                                                        : fc_settings[target_extruder].unload_length);
+
+      unload_filament(unload_length, true, PAUSE_MODE_UNLOAD_FILAMENT
+        #if ALL(FILAMENT_UNLOAD_ALL_EXTRUDERS, MIXING_EXTRUDER)
+          , mix_multiplier
+        #endif
+      );
+    }
+  #endif
+
+  // Restore Z axis
+  if (park_point.z > 0)
+    do_blocking_move_to_z(_MAX(current_position.z - park_point.z, 0), feedRate_t(NOZZLE_PARK_Z_FEEDRATE));
+
+  #if HAS_MULTI_EXTRUDER && (HAS_PRUSA_MMU1 || !HAS_MMU)
+    // Restore toolhead if it was changed
+    if (active_extruder_before_filament_change != active_extruder)
+      tool_change(active_extruder_before_filament_change, false);
+  #endif
+
+  TERN_(MIXING_EXTRUDER, mixer.T(old_mixing_tool)); // Restore original mixing tool
+
+  // Show status screen
+  ui.pause_show_message(PAUSE_MESSAGE_STATUS);
+}
+
+#endif // ADVANCED_PAUSE_FEATURE