diff --git a/pkg/kubelet/kuberuntime/helpers.go b/pkg/kubelet/kuberuntime/helpers.go
index 214549bdadb..e66440447aa 100644
--- a/pkg/kubelet/kuberuntime/helpers.go
+++ b/pkg/kubelet/kuberuntime/helpers.go
@@ -25,7 +25,9 @@ import (
 	"github.com/golang/glog"
 	"k8s.io/api/core/v1"
 	"k8s.io/apimachinery/pkg/types"
+	utilfeature "k8s.io/apiserver/pkg/util/feature"
 	v1helper "k8s.io/kubernetes/pkg/apis/core/v1/helper"
+	"k8s.io/kubernetes/pkg/features"
 	runtimeapi "k8s.io/kubernetes/pkg/kubelet/apis/cri/runtime/v1alpha2"
 	kubecontainer "k8s.io/kubernetes/pkg/kubelet/container"
 )
@@ -303,7 +305,9 @@ func pidNamespaceForPod(pod *v1.Pod) runtimeapi.NamespaceMode {
 		if pod.Spec.HostPID {
 			return runtimeapi.NamespaceMode_NODE
 		}
-		// TODO(verb): set NamespaceMode_POD based on ShareProcessNamespace after #58716 is merged
+		if utilfeature.DefaultFeatureGate.Enabled(features.PodShareProcessNamespace) && pod.Spec.ShareProcessNamespace != nil && *pod.Spec.ShareProcessNamespace {
+			return runtimeapi.NamespaceMode_POD
+		}
 	}
 	// Note that PID does not default to the zero value for v1.Pod
 	return runtimeapi.NamespaceMode_CONTAINER
diff --git a/pkg/kubelet/kuberuntime/helpers_test.go b/pkg/kubelet/kuberuntime/helpers_test.go
index 7eaf377dee0..47379620022 100644
--- a/pkg/kubelet/kuberuntime/helpers_test.go
+++ b/pkg/kubelet/kuberuntime/helpers_test.go
@@ -346,7 +346,75 @@ func TestNamespacesForPod(t *testing.T) {
 				Pid:     runtimeapi.NamespaceMode_NODE,
 			},
 		},
-		// TODO(verb): add test cases for ShareProcessNamespace true (after #58716 is merged)
+		"Shared Process Namespace (feature enabled)": {
+			&v1.Pod{
+				Spec: v1.PodSpec{
+					ShareProcessNamespace: &[]bool{true}[0],
+				},
+			},
+			&runtimeapi.NamespaceOption{
+				Ipc:     runtimeapi.NamespaceMode_POD,
+				Network: runtimeapi.NamespaceMode_POD,
+				Pid:     runtimeapi.NamespaceMode_POD,
+			},
+		},
+		"Shared Process Namespace, redundant flag (feature enabled)": {
+			&v1.Pod{
+				Spec: v1.PodSpec{
+					ShareProcessNamespace: &[]bool{false}[0],
+				},
+			},
+			&runtimeapi.NamespaceOption{
+				Ipc:     runtimeapi.NamespaceMode_POD,
+				Network: runtimeapi.NamespaceMode_POD,
+				Pid:     runtimeapi.NamespaceMode_CONTAINER,
+			},
+		},
+	} {
+		t.Logf("TestCase: %s", desc)
+		actual := namespacesForPod(test.input)
+		assert.Equal(t, test.expected, actual)
+	}
+
+	// Test ShareProcessNamespace feature disabled, feature gate restored by previous defer
+	utilfeaturetesting.SetFeatureGateDuringTest(t, utilfeature.DefaultFeatureGate, features.PodShareProcessNamespace, false)
+
+	for desc, test := range map[string]struct {
+		input    *v1.Pod
+		expected *runtimeapi.NamespaceOption
+	}{
+		"v1.Pod default namespaces": {
+			&v1.Pod{},
+			&runtimeapi.NamespaceOption{
+				Ipc:     runtimeapi.NamespaceMode_POD,
+				Network: runtimeapi.NamespaceMode_POD,
+				Pid:     runtimeapi.NamespaceMode_CONTAINER,
+			},
+		},
+		"Shared Process Namespace (feature disabled)": {
+			&v1.Pod{
+				Spec: v1.PodSpec{
+					ShareProcessNamespace: &[]bool{true}[0],
+				},
+			},
+			&runtimeapi.NamespaceOption{
+				Ipc:     runtimeapi.NamespaceMode_POD,
+				Network: runtimeapi.NamespaceMode_POD,
+				Pid:     runtimeapi.NamespaceMode_CONTAINER,
+			},
+		},
+		"Shared Process Namespace, redundant flag (feature disabled)": {
+			&v1.Pod{
+				Spec: v1.PodSpec{
+					ShareProcessNamespace: &[]bool{false}[0],
+				},
+			},
+			&runtimeapi.NamespaceOption{
+				Ipc:     runtimeapi.NamespaceMode_POD,
+				Network: runtimeapi.NamespaceMode_POD,
+				Pid:     runtimeapi.NamespaceMode_CONTAINER,
+			},
+		},
 	} {
 		t.Logf("TestCase: %s", desc)
 		actual := namespacesForPod(test.input)