diff --git a/tests/manager.py b/tests/manager.py
index a9bd2de1..8b6839ea 100644
--- a/tests/manager.py
+++ b/tests/manager.py
@@ -249,6 +249,23 @@ def test_filter(self):
 
         self.assertEqual(params, {"where": 'AmountPaid=="0.0"'})
 
+    def test_filter_ids(self):
+        """The filter function should correctly handle various arguments"""
+        credentials = Mock(base_url="")
+        manager = Manager("contacts", credentials)
+
+        uri, params, method, body, headers, singleobject = manager._filter(
+            IDs=["1", "2", "3", "4", "5"]
+        )
+
+        self.assertEqual(method, "get")
+        self.assertFalse(singleobject)
+
+        expected_params = {
+            "IDs": "1,2,3,4,5"
+        }
+        self.assertEqual(params, expected_params)
+
     def test_rawfilter(self):
         """The filter function should correctly handle various arguments"""
         credentials = Mock(base_url="")
diff --git a/xero/basemanager.py b/xero/basemanager.py
index fbe4843e..91118baa 100644
--- a/xero/basemanager.py
+++ b/xero/basemanager.py
@@ -374,6 +374,11 @@ def _filter(self, **kwargs):
                 headers = self.prepare_filtering_date(val)
                 del kwargs["since"]
 
+            # Accept IDs parameter for Invoices and Contacts endpoints
+            if "IDs" in kwargs:
+                params["IDs"] = ",".join(kwargs["IDs"])
+                del kwargs["IDs"]
+
             def get_filter_params(key, value):
                 last_key = key.split("_")[-1]
                 if last_key.endswith("ID"):