diff --git a/.github/workflows/continuous-benchmark.yml b/.github/workflows/continuous-benchmark.yml
new file mode 100644
index 000000000..837872ed5
--- /dev/null
+++ b/.github/workflows/continuous-benchmark.yml
@@ -0,0 +1,96 @@
+name: Continuous Benchmarking
+
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+
+permissions:
+  contents: write
+  deployments: write
+
+
+jobs:
+  benchmark:
+    name: Run C Benchmarks
+    runs-on: ubuntu-latest #FIXME: change to self-hosted after russel is set up.
+
+    steps:
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+
+      - name: Checkout benchmark repository
+        uses: actions/checkout@v2
+        with:
+          repository: lf-lang/benchmarks-lingua-franca
+          ref: automated-full-benchmark # FIXME: delete this line
+
+      - name: Checkout Lingua Franca repository
+        uses: actions/checkout@v2
+        with:
+          repository: lf-lang/lingua-franca
+          path: lf
+
+      - name: Prepare LF build environment
+        uses: ./lf/.github/actions/prepare-build-env
+
+      - name: Checkout current version of reactor-c
+        uses: actions/checkout@v2
+        with:
+          path: lf/org.lflang/src/lib/c/reactor-c
+
+      - name: Install Python dependencies
+        run: pip3 install -r runner/requirements.txt
+
+      - name: Build lfc
+        run: |
+          cd lf
+          ./gradlew buildLfc
+
+      - name: Set LF_PATH and LF_BENCHMARKS_PATH environmental variable
+        run: |
+          echo "LF_PATH=$GITHUB_WORKSPACE/lf" >> $GITHUB_ENV
+          echo "LF_BENCHMARKS_PATH=$GITHUB_WORKSPACE" >> $GITHUB_ENV
+
+      - name: Run C Benchmarks (multithreaded)
+        run: |
+          python3 runner/run_benchmark.py -m continue_on_error=True iterations=12 problem_size=small \
+            benchmark="glob(*)" target=lf-c target.params.scheduler=GEDF_NP,NP,adaptive threads=0
+
+      - name: Collect results
+        run: python3 runner/collect_results.py continuous-benchmarking-results-multi-threaded.json
+
+      - name: Store Benchmark Result
+        uses: benchmark-action/github-action-benchmark@v1
+        with:
+          name: Lingua Franca C Benchmark -- Multithreaded
+          tool: customSmallerIsBetter
+          output-file-path: continuous-benchmarking-results-multi-threaded.json
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          auto-push: true
+          alert-threshold: '200%' # FIXME: After russel is set up, lower the threshold
+          comment-on-alert: true
+          fail-on-alert: false
+
+      - name: Run C Benchmarks (unthreaded)
+        run: |
+          python3 runner/run_benchmark.py -m continue_on_error=True iterations=12 problem_size=small \
+            benchmark="glob(*)" target=lf-c-unthreaded
+
+      - name: Collect results
+        run: python3 runner/collect_results.py continuous-benchmarking-results-single-threaded.json
+
+      - name: Store Benchmark Result
+        uses: benchmark-action/github-action-benchmark@v1
+        with:
+          name: Lingua Franca C Benchmark -- Single-Threaded
+          tool: customSmallerIsBetter
+          output-file-path: continuous-benchmarking-results-single-threaded.json
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          auto-push: true
+          alert-threshold: '200%' # FIXME: After russel is set up, lower the threshold
+          comment-on-alert: true
+          fail-on-alert: false