diff --git a/rpc/http.go b/rpc/http.go
index a74f36a1b0..55f0abfa72 100644
--- a/rpc/http.go
+++ b/rpc/http.go
@@ -30,6 +30,9 @@ import (
 	"strconv"
 	"sync"
 	"time"
+
+	"go.opentelemetry.io/otel"
+	"go.opentelemetry.io/otel/propagation"
 )
 
 const (
@@ -334,6 +337,9 @@ func (s *Server) ServeHTTP(w http.ResponseWriter, r *http.Request) {
 	ctx := r.Context()
 	ctx = context.WithValue(ctx, peerInfoContextKey{}, connInfo)
 
+	// Extract trace context from incoming headers.
+	ctx = otel.GetTextMapPropagator().Extract(ctx, propagation.HeaderCarrier(r.Header))
+
 	// All checks passed, create a codec that reads directly from the request body
 	// until EOF, writes the response to w, and orders the server to process a
 	// single request.