diff --git a/rmw_connextdds/src/rmw_api_impl_ndds.cpp b/rmw_connextdds/src/rmw_api_impl_ndds.cpp
index ed2e45c8..b4caf481 100644
--- a/rmw_connextdds/src/rmw_api_impl_ndds.cpp
+++ b/rmw_connextdds/src/rmw_api_impl_ndds.cpp
@@ -120,6 +120,14 @@ rmw_take_event(
   return rmw_api_connextdds_take_event(event_handle, event_info, taken);
 }
 
+rmw_ret_t
+rmw_event_set_callback(
+  rmw_event_t * event,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  return rmw_api_connextdds_event_set_callback(event, callback, user_data);
+}
 /*****************************************************************************
  * Info API
  *****************************************************************************/
@@ -634,6 +642,27 @@ rmw_destroy_service(
 {
   return rmw_api_connextdds_destroy_service(node, service);
 }
+
+rmw_ret_t
+rmw_service_set_on_new_request_callback(
+  rmw_service_t * rmw_service,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  return rmw_api_connextdds_service_set_on_new_request_callback(
+    rmw_service, callback, user_data);
+}
+
+rmw_ret_t
+rmw_client_set_on_new_response_callback(
+  rmw_client_t * rmw_client,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  return rmw_api_connextdds_client_set_on_new_response_callback(
+    rmw_client, callback, user_data);
+}
+
 /*****************************************************************************
  * Subscription API
  *****************************************************************************/
@@ -812,6 +841,16 @@ rmw_return_loaned_message_from_subscription(
     subscription, loaned_message);
 }
 
+rmw_ret_t
+rmw_subscription_set_on_new_message_callback(
+  rmw_subscription_t * rmw_subscription,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  return rmw_api_connextdds_subscription_set_on_new_message_callback(
+    rmw_subscription, callback, user_data);
+}
+
 /*****************************************************************************
  * WaitSet API
  *****************************************************************************/
diff --git a/rmw_connextdds_common/CMakeLists.txt b/rmw_connextdds_common/CMakeLists.txt
index 03fd8645..925d1beb 100644
--- a/rmw_connextdds_common/CMakeLists.txt
+++ b/rmw_connextdds_common/CMakeLists.txt
@@ -139,6 +139,7 @@ set(RMW_CONNEXT_COMMON_SOURCE_CPP
     src/common/rmw_impl.cpp
     src/common/rmw_impl_waitset_std.cpp
     src/common/rmw_info.cpp
+    src/common/rmw_listener.cpp
     src/common/rmw_node.cpp
     src/common/rmw_publication.cpp
     src/common/rmw_qos.cpp
diff --git a/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp b/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp
index d07a97fb..ac2d82b0 100644
--- a/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp
+++ b/rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp
@@ -86,6 +86,13 @@ rmw_api_connextdds_take_event(
   void * event_info,
   bool * taken);
 
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_event_set_callback(
+  rmw_event_t * event,
+  rmw_event_callback_t callback,
+  const void * user_data);
+
 /*****************************************************************************
  * Info API
  *****************************************************************************/
@@ -423,6 +430,21 @@ rmw_ret_t
 rmw_api_connextdds_destroy_service(
   rmw_node_t * node,
   rmw_service_t * service);
+
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_service_set_on_new_request_callback(
+  rmw_service_t * rmw_service,
+  rmw_event_callback_t callback,
+  const void * user_data);
+
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_client_set_on_new_response_callback(
+  rmw_client_t * rmw_client,
+  rmw_event_callback_t callback,
+  const void * user_data);
+
 /*****************************************************************************
  * Subscription API
  *****************************************************************************/
@@ -547,6 +569,13 @@ rmw_api_connextdds_return_loaned_message_from_subscription(
   const rmw_subscription_t * subscription,
   void * loaned_message);
 
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_subscription_set_on_new_message_callback(
+  rmw_subscription_t * rmw_subscription,
+  rmw_event_callback_t callback,
+  const void * user_data);
+
 /*****************************************************************************
  * WaitSet API
  *****************************************************************************/
diff --git a/rmw_connextdds_common/src/common/rmw_listener.cpp b/rmw_connextdds_common/src/common/rmw_listener.cpp
new file mode 100644
index 00000000..730eaa92
--- /dev/null
+++ b/rmw_connextdds_common/src/common/rmw_listener.cpp
@@ -0,0 +1,76 @@
+// Copyright 2021 Real-Time Innovations, Inc. (RTI)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rmw_connextdds/rmw_impl.hpp"
+
+/******************************************************************************
+ * Event Listener API
+ ******************************************************************************/
+rmw_ret_t
+rmw_api_connextdds_event_set_callback(
+  rmw_event_t * event,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  UNUSED_ARG(event);
+  UNUSED_ARG(callback);
+  UNUSED_ARG(user_data);
+  RMW_CONNEXT_LOG_ERROR_SET("rmw_event_set_callback not implemented")
+  return RMW_RET_UNSUPPORTED;
+}
+
+/******************************************************************************
+ * Service Listener API
+ ******************************************************************************/
+rmw_ret_t
+rmw_api_connextdds_service_set_on_new_request_callback(
+  rmw_service_t * rmw_service,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  UNUSED_ARG(rmw_service);
+  UNUSED_ARG(callback);
+  UNUSED_ARG(user_data);
+  RMW_CONNEXT_LOG_ERROR_SET("rmw_service_set_on_new_request_callback not implemented")
+  return RMW_RET_UNSUPPORTED;
+}
+
+rmw_ret_t
+rmw_api_connextdds_client_set_on_new_response_callback(
+  rmw_client_t * rmw_client,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  UNUSED_ARG(rmw_client);
+  UNUSED_ARG(callback);
+  UNUSED_ARG(user_data);
+  RMW_CONNEXT_LOG_ERROR_SET("rmw_client_set_on_new_response_callback not implemented")
+  return RMW_RET_UNSUPPORTED;
+}
+
+/******************************************************************************
+ * Subscription Listener API
+ ******************************************************************************/
+rmw_ret_t
+rmw_api_connextdds_subscription_set_on_new_message_callback(
+  rmw_subscription_t * rmw_subscription,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  UNUSED_ARG(rmw_subscription);
+  UNUSED_ARG(callback);
+  UNUSED_ARG(user_data);
+  RMW_CONNEXT_LOG_ERROR_SET("rmw_subscription_set_on_new_message_callback not implemented")
+  return RMW_RET_UNSUPPORTED;
+}
diff --git a/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp b/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp
index 4c6417c3..d56d0ccf 100644
--- a/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp
+++ b/rmw_connextddsmicro/src/rmw_api_impl_rtime.cpp
@@ -120,6 +120,15 @@ rmw_take_event(
   return rmw_api_connextdds_take_event(event_handle, event_info, taken);
 }
 
+rmw_ret_t
+rmw_event_set_callback(
+  rmw_event_t * event,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  return rmw_api_connextdds_event_set_callback(event, callback, user_data);
+}
+
 /*****************************************************************************
  * Info API
  *****************************************************************************/
@@ -633,6 +642,27 @@ rmw_destroy_service(
 {
   return rmw_api_connextdds_destroy_service(node, service);
 }
+
+rmw_ret_t
+rmw_service_set_on_new_request_callback(
+  rmw_service_t * rmw_service,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  return rmw_api_connextdds_service_set_on_new_request_callback(
+    rmw_service, callback, user_data);
+}
+
+rmw_ret_t
+rmw_client_set_on_new_response_callback(
+  rmw_client_t * rmw_client,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  return rmw_api_connextdds_client_set_on_new_response_callback(
+    rmw_client, callback, user_data);
+}
+
 /*****************************************************************************
  * Subscription API
  *****************************************************************************/
@@ -809,6 +839,16 @@ rmw_return_loaned_message_from_subscription(
     subscription, loaned_message);
 }
 
+rmw_ret_t
+rmw_subscription_set_on_new_message_callback(
+  rmw_subscription_t * rmw_subscription,
+  rmw_event_callback_t callback,
+  const void * user_data)
+{
+  return rmw_api_connextdds_subscription_set_on_new_message_callback(
+    rmw_subscription, callback, user_data);
+}
+
 /*****************************************************************************
  * WaitSet API
  *****************************************************************************/