diff --git a/rclcpp/include/rclcpp/create_subscription.hpp b/rclcpp/include/rclcpp/create_subscription.hpp
index 5b84930ff7..2ee83bbeee 100644
--- a/rclcpp/include/rclcpp/create_subscription.hpp
+++ b/rclcpp/include/rclcpp/create_subscription.hpp
@@ -119,12 +119,13 @@ create_subscription(
     subscription_topic_stats->set_publisher_timer(timer);
   }
 
-  auto factory = rclcpp::create_subscription_factory<MessageT>(
+  auto factory =
+    rclcpp::create_subscription_factory<MessageT, CallbackT, AllocatorT, SubscriptionT>(
     std::forward<CallbackT>(callback),
     options,
     msg_mem_strat,
     subscription_topic_stats
-  );
+    );
 
   const rclcpp::QoS & actual_qos = options.qos_overriding_options.get_policy_kinds().size() ?
     rclcpp::detail::declare_qos_parameters(
diff --git a/rclcpp/include/rclcpp/subscription_factory.hpp b/rclcpp/include/rclcpp/subscription_factory.hpp
index a1727eab5a..6cff806ff4 100644
--- a/rclcpp/include/rclcpp/subscription_factory.hpp
+++ b/rclcpp/include/rclcpp/subscription_factory.hpp
@@ -99,12 +99,9 @@ create_subscription_factory(
       rclcpp::node_interfaces::NodeBaseInterface * node_base,
       const std::string & topic_name,
       const rclcpp::QoS & qos
-    ) -> rclcpp::SubscriptionBase::SharedPtr
+    ) -> std::shared_ptr<SubscriptionT>
     {
-      using rclcpp::Subscription;
-      using rclcpp::SubscriptionBase;
-
-      auto sub = Subscription<MessageT, AllocatorT>::make_shared(
+      auto sub = std::make_shared<SubscriptionT>(
         node_base,
         rclcpp::get_message_type_support_handle<MessageT>(),
         topic_name,
@@ -117,8 +114,7 @@ create_subscription_factory(
       // require this->shared_from_this() which cannot be called from
       // the constructor.
       sub->post_init_setup(node_base, qos, options);
-      auto sub_base_ptr = std::dynamic_pointer_cast<SubscriptionBase>(sub);
-      return sub_base_ptr;
+      return sub;
     }
   };
 
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index 097537b53a..da1b5217a3 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -88,6 +88,7 @@
 
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
+#include "rclcpp_lifecycle/lifecycle_subscriber.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "rclcpp_lifecycle/transition.hpp"
 #include "rclcpp_lifecycle/visibility_control.h"
@@ -240,7 +241,7 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
     typename MessageT,
     typename CallbackT,
     typename AllocatorT = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>,
+    typename SubscriptionT = rclcpp_lifecycle::LifecycleSubscription<MessageT, AllocatorT>,
     typename MessageMemoryStrategyT = typename SubscriptionT::MessageMemoryStrategyType>
   std::shared_ptr<SubscriptionT>
   create_subscription(
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
index 5ffc8a5f1b..3684eb3dec 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
@@ -43,6 +43,7 @@
 
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
 #include "rclcpp_lifecycle/lifecycle_publisher.hpp"
+#include "rclcpp_lifecycle/lifecycle_subscriber.hpp"
 #include "rclcpp_lifecycle/visibility_control.h"
 
 namespace rclcpp_lifecycle
@@ -65,12 +66,11 @@ LifecycleNode::create_publisher(
   return pub;
 }
 
-// TODO(karsten1987): Create LifecycleSubscriber
 template<
   typename MessageT,
   typename CallbackT,
   typename AllocatorT,
-  typename SubscriptionT,
+  typename SubscriptionT = rclcpp_lifecycle::LifecycleSubscription<MessageT>,
   typename MessageMemoryStrategyT>
 std::shared_ptr<SubscriptionT>
 LifecycleNode::create_subscription(
@@ -80,13 +80,15 @@ LifecycleNode::create_subscription(
   const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
   typename MessageMemoryStrategyT::SharedPtr msg_mem_strat)
 {
-  return rclcpp::create_subscription<MessageT>(
+  auto sub = rclcpp::create_subscription<MessageT, CallbackT, AllocatorT, SubscriptionT>(
     *this,
     topic_name,
     qos,
     std::forward<CallbackT>(callback),
     options,
     msg_mem_strat);
+  this->add_managed_entity(sub);
+  return sub;
 }
 
 template<typename DurationRepT, typename DurationT, typename CallbackT>
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_subscriber.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_subscriber.hpp
new file mode 100644
index 0000000000..c00b2cf833
--- /dev/null
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_subscriber.hpp
@@ -0,0 +1,83 @@
+// Copyright 2023 Elroy Air, Inc.
+//
+// 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.
+
+#ifndef RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIBER_HPP_
+#define RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIBER_HPP_
+
+#include <memory>
+#include <string>
+
+#include "rclcpp/subscription.hpp"
+
+namespace rclcpp_lifecycle
+{
+
+/// @brief Child class of rclcpp::Subscription that adds lifecycle functionality.
+/**
+ * This class is a child class of rclcpp::Subscription that adds a lifecycle
+ * check to the callback function. If the node is in an inactive state, the
+ * callback will not be called.
+ */
+template<
+  typename MessageT,
+  typename AllocatorT = std::allocator<void>,
+  typename SubscribedT = typename rclcpp::TypeAdapter<MessageT>::custom_type,
+  typename ROSMessageT = typename rclcpp::TypeAdapter<MessageT>::ros_message_type,
+  typename MessageMemoryStrategyT = rclcpp::message_memory_strategy::MessageMemoryStrategy<
+    ROSMessageT,
+    AllocatorT
+  >>
+class LifecycleSubscription : public SimpleManagedEntity,
+  public rclcpp::Subscription<MessageT, AllocatorT>
+{
+private:
+  using SubscriptionTopicStatisticsSharedPtr =
+    std::shared_ptr<rclcpp::topic_statistics::SubscriptionTopicStatistics<ROSMessageT>>;
+
+public:
+  LifecycleSubscription(
+    rclcpp::node_interfaces::NodeBaseInterface * node_base,
+    const rosidl_message_type_support_t & type_support_handle,
+    const std::string & topic_name,
+    const rclcpp::QoS & qos,
+    rclcpp::AnySubscriptionCallback<MessageT, AllocatorT> callback,
+    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
+    typename MessageMemoryStrategyT::SharedPtr message_memory_strategy,
+    SubscriptionTopicStatisticsSharedPtr subscription_topic_statistics = nullptr)
+  :  rclcpp::Subscription<MessageT>(
+      node_base,
+      type_support_handle,
+      topic_name,
+      qos,
+      callback,
+      options,
+      message_memory_strategy,
+      subscription_topic_statistics)
+  {
+  }
+
+  /// Check if we need to handle the message, and execute the callback if we do.
+  void handle_message(
+    std::shared_ptr<void> & message, const rclcpp::MessageInfo & message_info) override
+  {
+    if (!this->is_activated()) {
+      return;
+    }
+    rclcpp::Subscription<MessageT>::handle_message(message, message_info);
+  }
+};
+
+}  // namespace rclcpp_lifecycle
+
+#endif  // RCLCPP_LIFECYCLE__LIFECYCLE_SUBSCRIBER_HPP_