diff --git a/gz_ros2_control/include/gz_ros2_control/gz_ros2_control_plugin.hpp b/gz_ros2_control/include/gz_ros2_control/gz_ros2_control_plugin.hpp
index 43d71a20..ad8abe5a 100644
--- a/gz_ros2_control/include/gz_ros2_control/gz_ros2_control_plugin.hpp
+++ b/gz_ros2_control/include/gz_ros2_control/gz_ros2_control_plugin.hpp
@@ -29,7 +29,8 @@ class GazeboSimROS2ControlPlugin
   : public sim::System,
   public sim::ISystemConfigure,
   public sim::ISystemPreUpdate,
-  public sim::ISystemPostUpdate
+  public sim::ISystemPostUpdate,
+  public sim::ISystemReset
 {
 public:
   /// \brief Constructor
@@ -54,6 +55,10 @@ class GazeboSimROS2ControlPlugin
     const sim::UpdateInfo & _info,
     const sim::EntityComponentManager & _ecm) override;
 
+  void Reset(
+    const gz::sim::UpdateInfo & _info,
+    gz::sim::EntityComponentManager & _ecm) override;
+
 private:
   /// \brief Private data pointer.
   std::unique_ptr<GazeboSimROS2ControlPluginPrivate> dataPtr;
diff --git a/gz_ros2_control/src/gz_ros2_control_plugin.cpp b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
index 7e1bcb01..dc0c626b 100644
--- a/gz_ros2_control/src/gz_ros2_control_plugin.cpp
+++ b/gz_ros2_control/src/gz_ros2_control_plugin.cpp
@@ -263,6 +263,16 @@ GazeboSimROS2ControlPlugin::~GazeboSimROS2ControlPlugin()
   this->dataPtr->thread_executor_spin_.join();
 }
 
+//////////////////////////////////////////////////
+void GazeboSimROS2ControlPlugin::Reset(
+  const gz::sim::UpdateInfo &/*_info*/,
+  gz::sim::EntityComponentManager &/*_ecm*/)
+{
+  RCLCPP_ERROR(
+    this->dataPtr->node_->get_logger(),
+    "Resetting gz_ros2_control plugin");
+}
+
 //////////////////////////////////////////////////
 void GazeboSimROS2ControlPlugin::Configure(
   const sim::Entity & _entity,
@@ -541,4 +551,5 @@ GZ_ADD_PLUGIN(
   gz::sim::System,
   gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemConfigure,
   gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemPreUpdate,
+  gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemReset,
   gz_ros2_control::GazeboSimROS2ControlPlugin::ISystemPostUpdate)