diff --git a/src/material-experimental/mdc-menu/testing/menu-harness.spec.ts b/src/material-experimental/mdc-menu/testing/menu-harness.spec.ts
index c83ccfe5eddf..ab8f99887494 100644
--- a/src/material-experimental/mdc-menu/testing/menu-harness.spec.ts
+++ b/src/material-experimental/mdc-menu/testing/menu-harness.spec.ts
@@ -3,8 +3,5 @@ import {MatMenuModule} from '../index';
 import {MatMenuHarness} from './menu-harness';
 
 describe('MDC-based MatMenuHarness', () => {
-  it('TODO: re-enable after implementing missing methods', () => expect(true).toBe(true));
-  if (false) {
-    runHarnessTests(MatMenuModule, MatMenuHarness as any);
-  }
+  runHarnessTests(MatMenuModule, MatMenuHarness as any);
 });
diff --git a/src/material-experimental/mdc-menu/testing/menu-harness.ts b/src/material-experimental/mdc-menu/testing/menu-harness.ts
index 22fd3bdb6105..bdb562111990 100644
--- a/src/material-experimental/mdc-menu/testing/menu-harness.ts
+++ b/src/material-experimental/mdc-menu/testing/menu-harness.ts
@@ -6,24 +6,23 @@
  * found in the LICENSE file at https://angular.io/license
  */
 
-import {ComponentHarness, HarnessPredicate} from '@angular/cdk/testing';
+import {ComponentHarness, HarnessPredicate, TestElement, TestKey} from '@angular/cdk/testing';
 import {coerceBooleanProperty} from '@angular/cdk/coercion';
-import {
-  MenuHarnessFilters,
-  MenuItemHarnessFilters
-} from '@angular/material/menu/testing';
+import {MenuHarnessFilters, MenuItemHarnessFilters} from '@angular/material/menu/testing';
 
-/** Harness for interacting with a MDC-based mat-menu in tests. */
+/** Harness for interacting with an MDC-based mat-menu in tests. */
 export class MatMenuHarness extends ComponentHarness {
+  /** The selector for the host element of a `MatMenu` instance. */
   static hostSelector = '.mat-menu-trigger';
 
+  private _documentRootLocator = this.documentRootLocatorFactory();
+
   // TODO: potentially extend MatButtonHarness
 
   /**
-   * Gets a `HarnessPredicate` that can be used to search for a menu with specific attributes.
-   * @param options Options for narrowing the search:
-   *   - `selector` finds a menu whose host element matches the given selector.
-   *   - `label` finds a menu with specific label text.
+   * Gets a `HarnessPredicate` that can be used to search for a `MatMenuHarness` that meets certain
+   * criteria.
+   * @param options Options for filtering which menu instances are considered a match.
    * @return a `HarnessPredicate` configured with the given options.
    */
   static with(options: MenuHarnessFilters = {}): HarnessPredicate<MatMenuHarness> {
@@ -32,26 +31,28 @@ export class MatMenuHarness extends ComponentHarness {
             (harness, text) => HarnessPredicate.stringMatches(harness.getTriggerText(), text));
   }
 
-  /** Gets a boolean promise indicating if the menu is disabled. */
+  /** Whether the menu is disabled. */
   async isDisabled(): Promise<boolean> {
     const disabled = (await this.host()).getAttribute('disabled');
     return coerceBooleanProperty(await disabled);
   }
 
+  /** Whether the menu is open. */
   async isOpen(): Promise<boolean> {
-    throw Error('not implemented');
+    return !!(await this._getMenuPanel());
   }
 
+  /** Gets the text of the menu's trigger element. */
   async getTriggerText(): Promise<string> {
     return (await this.host()).text();
   }
 
-  /** Focuses the menu and returns a void promise that indicates when the action is complete. */
+  /** Focuses the menu. */
   async focus(): Promise<void> {
     return (await this.host()).focus();
   }
 
-  /** Blurs the menu and returns a void promise that indicates when the action is complete. */
+  /** Blurs the menu. */
   async blur(): Promise<void> {
     return (await this.host()).blur();
   }
@@ -61,35 +62,86 @@ export class MatMenuHarness extends ComponentHarness {
     return (await this.host()).isFocused();
   }
 
+  /** Opens the menu. */
   async open(): Promise<void> {
-    throw Error('not implemented');
+    if (!await this.isOpen()) {
+      return (await this.host()).click();
+    }
   }
 
+  /** Closes the menu. */
   async close(): Promise<void> {
-    throw Error('not implemented');
+    const panel = await this._getMenuPanel();
+    if (panel) {
+      return panel.sendKeys(TestKey.ESCAPE);
+    }
   }
 
+  /**
+   * Gets a list of `MatMenuItemHarness` representing the items in the menu.
+   * @param filters Optionally filters which menu items are included.
+   */
   async getItems(filters: Omit<MenuItemHarnessFilters, 'ancestor'> = {}):
       Promise<MatMenuItemHarness[]> {
-    throw Error('not implemented');
+    const panelId = await this._getPanelId();
+    if (panelId) {
+      return this._documentRootLocator.locatorForAll(
+          MatMenuItemHarness.with({...filters, ancestor: `#${panelId}`}))();
+    }
+    return [];
   }
 
-  async clickItem(filter: Omit<MenuItemHarnessFilters, 'ancestor'>,
-                  ...filters: Omit<MenuItemHarnessFilters, 'ancestor'>[]): Promise<void> {
-    throw Error('not implemented');
+  /**
+   * Clicks an item in the menu, and optionally continues clicking items in subsequent sub-menus.
+   * @param itemFilter A filter used to represent which item in the menu should be clicked. The
+   *     first matching menu item will be clicked.
+   * @param subItemFilters A list of filters representing the items to click in any subsequent
+   *     sub-menus. The first item in the sub-menu matching the corresponding filter in
+   *     `subItemFilters` will be clicked.
+   */
+  async clickItem(
+      itemFilter: Omit<MenuItemHarnessFilters, 'ancestor'>,
+      ...subItemFilters: Omit<MenuItemHarnessFilters, 'ancestor'>[]): Promise<void> {
+    await this.open();
+    const items = await this.getItems(itemFilter);
+    if (!items.length) {
+      throw Error(`Could not find item matching ${JSON.stringify(itemFilter)}`);
+    }
+
+    if (!subItemFilters.length) {
+      return await items[0].click();
+    }
+
+    const menu = await items[0].getSubmenu();
+    if (!menu) {
+      throw Error(`Item matching ${JSON.stringify(itemFilter)} does not have a submenu`);
+    }
+    return menu.clickItem(...subItemFilters as [Omit<MenuItemHarnessFilters, 'ancestor'>]);
+  }
+
+  /** Gets the menu panel associated with this menu. */
+  private async _getMenuPanel(): Promise<TestElement | null> {
+    const panelId = await this._getPanelId();
+    return panelId ? this._documentRootLocator.locatorForOptional(`#${panelId}`)() : null;
+  }
+
+  /** Gets the id of the menu panel associated with this menu. */
+  private async _getPanelId(): Promise<string | null> {
+    const panelId = await (await this.host()).getAttribute('aria-controls');
+    return panelId || null;
   }
 }
 
 
-/** Harness for interacting with a standard mat-menu in tests. */
+/** Harness for interacting with an MDC-based mat-menu-item in tests. */
 export class MatMenuItemHarness extends ComponentHarness {
-  static hostSelector = '.mat-menu-item';
+  /** The selector for the host element of a `MatMenuItem` instance. */
+  static hostSelector = '.mat-mdc-menu-item';
 
   /**
-   * Gets a `HarnessPredicate` that can be used to search for a menu with specific attributes.
-   * @param options Options for narrowing the search:
-   *   - `selector` finds a menu item whose host element matches the given selector.
-   *   - `label` finds a menu item with specific label text.
+   * Gets a `HarnessPredicate` that can be used to search for a `MatMenuItemHarness` that meets
+   * certain criteria.
+   * @param options Options for filtering which menu item instances are considered a match.
    * @return a `HarnessPredicate` configured with the given options.
    */
   static with(options: MenuItemHarnessFilters = {}): HarnessPredicate<MatMenuItemHarness> {
@@ -100,24 +152,23 @@ export class MatMenuItemHarness extends ComponentHarness {
             async (harness, hasSubmenu) => (await harness.hasSubmenu()) === hasSubmenu);
   }
 
-  /** Gets a boolean promise indicating if the menu is disabled. */
+  /** Whether the menu is disabled. */
   async isDisabled(): Promise<boolean> {
     const disabled = (await this.host()).getAttribute('disabled');
     return coerceBooleanProperty(await disabled);
   }
 
+  /** Gets the text of the menu item. */
   async getText(): Promise<string> {
     return (await this.host()).text();
   }
 
-  /**
-   * Focuses the menu item and returns a void promise that indicates when the action is complete.
-   */
+  /** Focuses the menu item. */
   async focus(): Promise<void> {
     return (await this.host()).focus();
   }
 
-  /** Blurs the menu item and returns a void promise that indicates when the action is complete. */
+  /** Blurs the menu item. */
   async blur(): Promise<void> {
     return (await this.host()).blur();
   }
@@ -127,15 +178,21 @@ export class MatMenuItemHarness extends ComponentHarness {
     return (await this.host()).isFocused();
   }
 
+  /** Clicks the menu item. */
   async click(): Promise<void> {
-    throw Error('not implemented');
+    return (await this.host()).click();
   }
 
+  /** Whether this item has a submenu. */
   async hasSubmenu(): Promise<boolean> {
-    throw Error('not implemented');
+    return (await this.host()).matchesSelector(MatMenuHarness.hostSelector);
   }
 
+  /** Gets the submenu associated with this menu item, or null if none. */
   async getSubmenu(): Promise<MatMenuHarness | null> {
-    throw Error('not implemented');
+    if (await this.hasSubmenu()) {
+      return new MatMenuHarness(this.locatorFactory);
+    }
+    return null;
   }
 }
diff --git a/src/material/menu/testing/shared.spec.ts b/src/material/menu/testing/shared.spec.ts
index fe8e0e3a9abf..9f1abfec1e7f 100644
--- a/src/material/menu/testing/shared.spec.ts
+++ b/src/material/menu/testing/shared.spec.ts
@@ -123,7 +123,7 @@ export function runHarnessTests(
     });
 
     it('should get submenus', async () => {
-      const menu1 = await loader.getHarness(MatMenuHarness.with({triggerText: 'Menu 1'}));
+      const menu1 = await loader.getHarness(menuHarness.with({triggerText: 'Menu 1'}));
 
       await menu1.open();
       let submenus = await menu1.getItems({hasSubmenu: true});
@@ -147,25 +147,25 @@ export function runHarnessTests(
     });
 
     it('should select item in top-level menu', async () => {
-      const menu1 = await loader.getHarness(MatMenuHarness.with({triggerText: 'Menu 1'}));
+      const menu1 = await loader.getHarness(menuHarness.with({triggerText: 'Menu 1'}));
       await menu1.clickItem({text: /Leaf/});
       expect(fixture.componentInstance.lastClickedLeaf).toBe(1);
     });
 
     it('should throw when item is not found', async () => {
-      const menu1 = await loader.getHarness(MatMenuHarness.with({triggerText: 'Menu 1'}));
+      const menu1 = await loader.getHarness(menuHarness.with({triggerText: 'Menu 1'}));
       await expectAsync(menu1.clickItem({text: 'Fake Item'})).toBeRejectedWithError(
           /Could not find item matching {"text":"Fake Item"}/);
     });
 
     it('should select item in nested menu', async () => {
-      const menu1 = await loader.getHarness(MatMenuHarness.with({triggerText: 'Menu 1'}));
+      const menu1 = await loader.getHarness(menuHarness.with({triggerText: 'Menu 1'}));
       await menu1.clickItem({text: 'Menu 3'}, {text: 'Menu 4'}, {text: /Leaf/});
       expect(fixture.componentInstance.lastClickedLeaf).toBe(3);
     });
 
     it('should throw when intermediate item does not have submenu', async () => {
-      const menu1 = await loader.getHarness(MatMenuHarness.with({triggerText: 'Menu 1'}));
+      const menu1 = await loader.getHarness(menuHarness.with({triggerText: 'Menu 1'}));
       await expectAsync(menu1.clickItem({text: 'Leaf Item 1'}, {})).toBeRejectedWithError(
           /Item matching {"text":"Leaf Item 1"} does not have a submenu/);
     });