We propose new mechanism for inflation using classical SU(2) Yang–Mills (YM) homogeneous and isotropic field non-minimally coupled to gravity via Horndeski prescription. This is the unique generally and gauge covariant ghost-free YM theory with the curvature-dependent action leading to second-order gravity and Yang–Mills field equations. We show that its solution space contains de Sitter boundary to which the trajectories are attracted for some finite time, ensuring the robust inflation with a graceful exit. The theory can be generalized to include the Higgs field leading to two-steps inflationary scenario, in which the Planck-scale YM-generated inflation naturally prepares the desired initial conditions for the GUT-scale Higgs inflation.