diff --git a/rclcpp/include/rclcpp/timer.hpp b/rclcpp/include/rclcpp/timer.hpp
index 1e15be7..73c1d74 100644
--- a/rclcpp/include/rclcpp/timer.hpp
+++ b/rclcpp/include/rclcpp/timer.hpp
@@ -55,6 +55,10 @@ public:
   void
   cancel();
 
+  RCLCPP_PUBLIC
+  void
+  reset();
+
   RCLCPP_PUBLIC
   virtual void
   execute_callback() = 0;
diff --git a/rclcpp/src/rclcpp/timer.cpp b/rclcpp/src/rclcpp/timer.cpp
index 1128bbf..e15d683 100644
--- a/rclcpp/src/rclcpp/timer.cpp
+++ b/rclcpp/src/rclcpp/timer.cpp
@@ -40,6 +40,14 @@ TimerBase::cancel()
   }
 }
 
+void
+TimerBase::reset()
+{
+  if (rcl_timer_reset(&timer_handle_) != RCL_RET_OK) {
+    throw std::runtime_error(std::string("Couldn't reset timer: ") + rcl_get_error_string_safe());
+  }
+}
+
 bool
 TimerBase::is_ready()
 {