diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index 5eed721..416bf5b 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -447,9 +447,29 @@ public:
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
+  using OnSetParametersCallbackHandle =
+    rclcpp::node_interfaces::OnSetParametersCallbackHandle;
   using OnParametersSetCallbackType =
     rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
 
+  /// Add a callback for when parameters are being set.
+  /**
+   * \sa rclcpp::Node::add_on_set_parameters_callback
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr
+  add_on_set_parameters_callback(
+    rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
+
+  /// Remove a callback registered with `add_on_set_parameters_callback`.
+  /**
+   * \sa rclcpp::Node::remove_on_set_parameters_callback
+   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  void
+  remove_on_set_parameters_callback(
+    const rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle * const handler);
+
   /// Register a callback to be called anytime a parameter is about to be changed.
   /**
    * \sa rclcpp::Node::set_on_parameters_set_callback
diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
index bf78419..cdba353 100644
--- a/rclcpp_lifecycle/src/lifecycle_node.cpp
+++ b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -255,6 +255,17 @@ LifecycleNode::list_parameters(
   return node_parameters_->list_parameters(prefixes, depth);
 }
 
+rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr
+LifecycleNode::add_on_set_parameters_callback(OnParametersSetCallbackType callback)
+{
+  return node_parameters_->add_on_set_parameters_callback(callback);
+}
+
+void
+LifecycleNode::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const callback)
+{
+  return node_parameters_->remove_on_set_parameters_callback(callback);
+
 rclcpp::Node::OnParametersSetCallbackType
 LifecycleNode::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
 {