Lipoteichoic acid (LTA) in is a poly-glycerophosphate polymer anchored to the outer surface of the cell membrane. LTA has numerous roles in cell envelope physiology, including regulating cell autolysis, coordinating cell division, and adapting to environmental growth conditions. LTA is often further modified with substituents including D-alanine and glycosyl groups to alter cellular function. While the genetic determinants of D-alanylation have been largely defined, the route of LTA glycosylation and its role in cell envelope physiology has remained unknown in part due to the low levels of basal LTA glycosylation in Herein we demonstrate utilizes a membrane associated three component glycosylation system composed of an undecaprenol (Und)-acetylglucosamine (GlcNAc) charging enzyme (CsbB; SAOUHSC_00713), a putative flippase to transport loaded substrate to the outside surface of the cell (GtcA; SAOUHSC_02722), and finally a LTA specific glycosyltransferase that adds α-GlcNAc moieties to LTA (YfhO; SAOUHSC_01213). We demonstrate that this system is specific for LTA with no cross recognition of the structurally similar polyribitol phosphate containing wall teichoic acids. We show that while wild-type LTA has only a trace of GlcNAcylated LTA under normal growth conditions, amounts are raised upon either overexpressing CsbB, reducing endogenous D-alanylation activity, expressing the cellenvelope stress responsive alternative sigma factor SigB, or by exposure to environmental stress-inducing culture conditions including high sodium chloride containing growth media. The role of glycosylation in the structure and function of LTA is largely unknown. By defining key components of the lipoteichoic acid three component glycosylation pathway and uncovering stress-induced regulation by the alternative sigma factor SigB, the role of-acetylglucosamine tailoring during adaptation to environmental stresses can now be elucidated. As the and glycosylation pathways compete for the same sites on LTA and induction of glycosylation results in decreased D-alanylation, the interplay between the two modification systems holds implications for resistance to antibiotics and antimicrobial peptides.