diff --git a/yt/frontends/rockstar/data_structures.py b/yt/frontends/rockstar/data_structures.py
index e93ec9c0b56..3d613d3b5fd 100644
--- a/yt/frontends/rockstar/data_structures.py
+++ b/yt/frontends/rockstar/data_structures.py
@@ -1,5 +1,7 @@
 import glob
 import os
+from functools import cached_property
+from typing import Any, Optional
 
 import numpy as np
 
@@ -9,22 +11,58 @@
 from yt.geometry.particle_geometry_handler import ParticleIndex
 from yt.utilities import fortran_utils as fpu
 from yt.utilities.cosmology import Cosmology
+from yt.utilities.exceptions import YTFieldNotFound
 
 from .definitions import header_dt
 from .fields import RockstarFieldInfo
 
 
 class RockstarBinaryFile(HaloCatalogFile):
+    header: dict
+    _position_offset: int
+    _member_offset: int
+    _Npart: "np.ndarray[Any, np.dtype[np.int64]]"
+    _ids_halos: list[int]
+    _file_size: int
+
     def __init__(self, ds, io, filename, file_id, range):
         with open(filename, "rb") as f:
             self.header = fpu.read_cattrs(f, header_dt, "=")
             self._position_offset = f.tell()
+            pcount = self.header["num_halos"]
+
+            halos = np.fromfile(f, dtype=io._halo_dt, count=pcount)
+            self._member_offset = f.tell()
+            self._ids_halos = list(halos["particle_identifier"])
+            self._Npart = halos["num_p"]
+
             f.seek(0, os.SEEK_END)
             self._file_size = f.tell()
 
+        expected_end = self._member_offset + 8 * self._Npart.sum()
+        if expected_end != self._file_size:
+            raise RuntimeError(
+                f"File size {self._file_size} does not match expected size {expected_end}."
+            )
+
         super().__init__(ds, io, filename, file_id, range)
 
-    def _read_particle_positions(self, ptype, f=None):
+    def _read_member(
+        self, ihalo: int
+    ) -> Optional["np.ndarray[Any, np.dtype[np.int64]]"]:
+        if ihalo not in self._ids_halos:
+            return None
+
+        ind_halo = self._ids_halos.index(ihalo)
+
+        ipos = self._member_offset + 8 * self._Npart[:ind_halo].sum()
+
+        with open(self.filename, "rb") as f:
+            f.seek(ipos, os.SEEK_SET)
+            ids = np.fromfile(f, dtype=np.int64, count=self._Npart[ind_halo])
+            return ids
+
+    def _read_particle_positions(self, ptype: str, f=None):
         """
         Read all particle positions in this file.
         """
@@ -48,8 +86,18 @@ def _read_particle_positions(self, ptype, f=None):
         return pos
 
 
+class RockstarIndex(ParticleIndex):
+    def get_member(self, ihalo: int):
+        for df in self.data_files:
+            members = df._read_member(ihalo)
+            if members is not None:
+                return members
+
+        raise RuntimeError(f"Could not find halo {ihalo} in any data file.")
+
+
 class RockstarDataset(ParticleDataset):
-    _index_class = ParticleIndex
+    _index_class = RockstarIndex
     _file_class = RockstarBinaryFile
     _field_info_class = RockstarFieldInfo
     _suffix = ".bin"
@@ -122,3 +170,71 @@ def _is_valid(cls, filename: str, *args, **kwargs) -> bool:
             return False
         else:
             return header["magic"] == 18077126535843729616
+
+    def halo(self, ptype, particle_identifier):
+        return RockstarHaloContainer(
+            ptype,
+            particle_identifier,
+            parent_ds=None,
+            halo_ds=self,
+        )
+
+
+class RockstarHaloContainer:
+    def __init__(self, ptype, particle_identifier, *, parent_ds, halo_ds):
+        if ptype not in halo_ds.particle_types_raw:
+            raise RuntimeError(
+                f'Possible halo types are {halo_ds.particle_types_raw}, supplied "{ptype}".'
+            )
+
+        self.ds = parent_ds
+        self.halo_ds = halo_ds
+        self.ptype = ptype
+        self.particle_identifier = particle_identifier
+
+    def __repr__(self):
+        return f"{self.halo_ds}_{self.ptype}_{self.particle_identifier:09d}"
+
+    def __getitem__(self, key):
+        if isinstance(key, tuple):
+            ptype, field = key
+        else:
+            ptype = self.ptype
+            field = key
+
+        data = {
+            "mass": self.mass,
+            "position": self.position,
+            "velocity": self.velocity,
+            "member_ids": self.member_ids,
+        }
+        if ptype == "halos" and field in data:
+            return data[field]
+
+        raise YTFieldNotFound((ptype, field), dataset=self.ds)
+
+    @cached_property
+    def ihalo(self):
+        halo_id = self.particle_identifier
+        halo_ids = list(self.halo_ds.r["halos", "particle_identifier"].astype("i8"))
+        ihalo = halo_ids.index(halo_id)
+
+        assert halo_ids[ihalo] == halo_id
+
+        return ihalo
+
+    @property
+    def mass(self):
+        return self.halo_ds.r["halos", "particle_mass"][self.ihalo]
+
+    @property
+    def position(self):
+        return self.halo_ds.r["halos", "particle_position"][self.ihalo]
+
+    @property
+    def velocity(self):
+        return self.halo_ds.r["halos", "particle_velocity"][self.ihalo]
+
+    @property
+    def member_ids(self):
+        return self.halo_ds.index.get_member(self.particle_identifier)
diff --git a/yt/frontends/rockstar/tests/test_outputs.py b/yt/frontends/rockstar/tests/test_outputs.py
index 920881ec1cc..0acf4dc1d72 100644
--- a/yt/frontends/rockstar/tests/test_outputs.py
+++ b/yt/frontends/rockstar/tests/test_outputs.py
@@ -38,3 +38,23 @@ def test_particle_selection():
     ds = data_dir_load(r1)
     psc = ParticleSelectionComparison(ds)
     psc.run_defaults()
+
+
+@requires_file(r1)
+def test_halo_loading():
+    ds = data_dir_load(r1)
+
+    for halo_id, Npart in zip(
+        ds.r["halos", "particle_identifier"],
+        ds.r["halos", "num_p"],
+    ):
+        halo = ds.halo("halos", halo_id)
+        assert halo is not None
+
+        # Try accessing properties
+        halo.position
+        halo.velocity
+        halo.mass
+
+        # Make sure we can access the member particles
+        assert_equal(len(halo.member_ids), Npart)