diff --git a/rclpy/rclpy/__init__.py b/rclpy/rclpy/__init__.py
index 33c2a56f0..cea1f9163 100644
--- a/rclpy/rclpy/__init__.py
+++ b/rclpy/rclpy/__init__.py
@@ -143,8 +143,7 @@ def create_node(
     start_parameter_services: bool = True,
     parameter_overrides: List[Parameter] = None,
     allow_undeclared_parameters: bool = False,
-    automatically_declare_parameters_from_overrides: bool = False,
-    enable_service_introspection: bool = False,
+    automatically_declare_parameters_from_overrides: bool = False
 ) -> 'Node':
     """
     Create an instance of :class:`.Node`.
@@ -166,7 +165,6 @@ def create_node(
         This option doesn't affect `parameter_overrides`.
     :param automatically_declare_parameters_from_overrides: If True, the "parameter overrides" will
         be used to implicitly declare parameters on the node during creation, default False.
-    :param enable_service_introspection: Flag to enable service introspection, default False.
     :return: An instance of the newly created node.
     """
     # imported locally to avoid loading extensions on module import
@@ -180,8 +178,7 @@ def create_node(
         allow_undeclared_parameters=allow_undeclared_parameters,
         automatically_declare_parameters_from_overrides=(
             automatically_declare_parameters_from_overrides
-        ),
-        enable_service_introspection=enable_service_introspection)
+        ))
 
 
 def spin_once(node: 'Node', *, executor: 'Executor' = None, timeout_sec: float = None) -> None:
diff --git a/rclpy/rclpy/client.py b/rclpy/rclpy/client.py
index 92e1b4782..d46256bc5 100644
--- a/rclpy/rclpy/client.py
+++ b/rclpy/rclpy/client.py
@@ -18,9 +18,11 @@
 from typing import TypeVar
 
 from rclpy.callback_groups import CallbackGroup
+from rclpy.clock import Clock
 from rclpy.context import Context
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.qos import QoSProfile
+from rclpy.service_introspection import ServiceIntrospectionState
 from rclpy.task import Future
 
 # Used for documentation purposes only
@@ -180,6 +182,23 @@ def wait_for_service(self, timeout_sec: float = None) -> bool:
 
         return self.service_is_ready()
 
+    def configure_introspection(
+        self, clock: Clock,
+        service_event_qos_profile: QoSProfile,
+        introspection_state: ServiceIntrospectionState
+    ) -> None:
+        """
+        Configure client introspection.
+
+        :param clock: Clock to use for generating timestamps.
+        :param service_event_qos_profile: QoSProfile to use when creating service event publisher.
+        :param introspection_state: ServiceIntrospectionState to set introspection.
+        """
+        with self.handle:
+            self.__client.configure_introspection(clock.handle,
+                                                  service_event_qos_profile.get_c_qos_profile(),
+                                                  introspection_state)
+
     @property
     def handle(self):
         return self.__client
diff --git a/rclpy/rclpy/node.py b/rclpy/rclpy/node.py
index 04fee9fc7..95042e2ca 100644
--- a/rclpy/rclpy/node.py
+++ b/rclpy/rclpy/node.py
@@ -66,7 +66,6 @@
 from rclpy.publisher import Publisher
 from rclpy.qos import qos_profile_parameter_events
 from rclpy.qos import qos_profile_services_default
-from rclpy.qos import qos_profile_system_default
 from rclpy.qos import QoSProfile
 from rclpy.qos_event import PublisherEventCallbacks
 from rclpy.qos_event import SubscriptionEventCallbacks
@@ -127,8 +126,7 @@ def __init__(
         start_parameter_services: bool = True,
         parameter_overrides: List[Parameter] = None,
         allow_undeclared_parameters: bool = False,
-        automatically_declare_parameters_from_overrides: bool = False,
-        enable_service_introspection: bool = False,
+        automatically_declare_parameters_from_overrides: bool = False
     ) -> None:
         """
         Create a Node.
@@ -152,8 +150,6 @@ def __init__(
             This flag affects the behavior of parameter-related operations.
         :param automatically_declare_parameters_from_overrides: If True, the "parameter overrides"
             will be used to implicitly declare parameters on the node during creation.
-        :param enable_service_introspection: If True, the node will enable introspection of
-            services.
         """
         self.__handle = None
         self._context = get_default_context() if context is None else context
@@ -186,8 +182,7 @@ def __init__(
                     self._context.handle,
                     cli_args,
                     use_global_arguments,
-                    enable_rosout,
-                    enable_service_introspection
+                    enable_rosout
                 )
             except ValueError:
                 # these will raise more specific errors if the name or namespace is bad
@@ -236,18 +231,6 @@ def __init__(
         if start_parameter_services:
             self._parameter_service = ParameterService(self)
 
-        if enable_service_introspection:
-            self.declare_parameters(
-                namespace='',
-                parameters=[
-                    (_rclpy.service_introspection.RCL_SERVICE_INTROSPECTION_PUBLISH_CLIENT_PARAMETER,  # noqa E501
-                     'off', ParameterDescriptor()),
-                    (_rclpy.service_introspection.RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_PARAMETER,  # noqa E501
-                     'off', ParameterDescriptor()),
-                ])
-            self.add_on_set_parameters_callback(self._check_service_introspection_parameters)
-            self.add_post_set_parameters_callback(self._configure_service_introspection)
-
     @property
     def publishers(self) -> Iterator[Publisher]:
         """Get publishers that have been created on this node."""
@@ -1593,89 +1576,13 @@ def create_subscription(
 
         return subscription
 
-    def _check_service_introspection_parameters(
-        self, parameters: List[Parameter]
-    ) -> SetParametersResult:
-        result = SetParametersResult(successful=True)
-        for param in parameters:
-            if param.name not in (
-                    _rclpy.service_introspection.RCL_SERVICE_INTROSPECTION_PUBLISH_CLIENT_PARAMETER,  # noqa: E501
-                    _rclpy.service_introspection.RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_PARAMETER):  # noqa: E501
-                continue
-
-            if param.type_ != Parameter.Type.STRING:
-                result.successful = False
-                result.reason = 'Parameter type must be string'
-                break
-
-            if param.value not in ('off', 'metadata', 'contents'):
-                result.successful = False
-                result.reason = "Value must be one of 'off', 'metadata', or 'contents'"
-                break
-
-        return result
-
-    def _configure_service_introspection(self, parameters: List[Parameter]):
-        for param in parameters:
-            if param.name == \
-                    _rclpy.service_introspection.RCL_SERVICE_INTROSPECTION_PUBLISH_CLIENT_PARAMETER:  # noqa: E501
-
-                value = param.value
-
-                for cli in self.clients:
-                    should_enable_service_events = False
-                    should_enable_contents = False
-                    if value == 'off':
-                        should_enable_service_events = False
-                        should_enable_contents = False
-                    elif value == 'metadata':
-                        should_enable_service_events = True
-                        should_enable_contents = False
-                    elif value == 'contents':
-                        should_enable_service_events = True
-                        should_enable_contents = True
-
-                    _rclpy.service_introspection.configure_client_events(
-                        cli.handle.pointer,
-                        self.handle.pointer,
-                        should_enable_service_events)
-                    _rclpy.service_introspection.configure_client_message_payload(
-                        cli.handle.pointer,
-                        should_enable_contents)
-            elif param.name == \
-                    _rclpy.service_introspection.RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_PARAMETER:  # noqa: E501
-
-                value = param.value
-
-                for srv in self.services:
-                    should_enable_service_events = False
-                    should_enable_contents = False
-                    if value == 'off':
-                        should_enable_service_events = False
-                        should_enable_contents = False
-                    elif value == 'metadata':
-                        should_enable_service_events = True
-                        should_enable_contents = False
-                    elif value == 'contents':
-                        should_enable_service_events = True
-                        should_enable_contents = True
-
-                    _rclpy.service_introspection.configure_service_events(
-                        srv.handle.pointer,
-                        self.handle.pointer,
-                        should_enable_service_events)
-                    _rclpy.service_introspection.configure_service_message_payload(
-                        srv.handle.pointer,
-                        should_enable_contents)
-
     def create_client(
         self,
         srv_type,
         srv_name: str,
         *,
         qos_profile: QoSProfile = qos_profile_services_default,
-        callback_group: CallbackGroup = None,
-        service_event_qos_profile: QoSProfile = qos_profile_system_default
+        callback_group: CallbackGroup = None
     ) -> Client:
         """
         Create a new service client.
@@ -1683,12 +1590,8 @@ def create_client(
         :param srv_type: The service type.
         :param srv_name: The name of the service.
         :param qos_profile: The quality of service profile to apply the service client.
-        :param service_event_publisher_qos_profile: The quality of service
-            profile to apply the service event publisher.
         :param callback_group: The callback group for the service client. If ``None``, then the
             default callback group for the node is used.
-        :param service_event_qos_profile: The quality of service profile to apply to service
-            introspection (if enabled).
         """
         if callback_group is None:
             callback_group = self.default_callback_group
@@ -1700,9 +1603,7 @@ def create_client(
                     self.handle,
                     srv_type,
                     srv_name,
-                    qos_profile.get_c_qos_profile(),
-                    service_event_qos_profile.get_c_qos_profile(),
-                    self._clock.handle)
+                    qos_profile.get_c_qos_profile())
         except ValueError:
             failed = True
         if failed:
@@ -1724,8 +1625,7 @@ def create_service(
         callback: Callable[[SrvTypeRequest, SrvTypeResponse], SrvTypeResponse],
         *,
         qos_profile: QoSProfile = qos_profile_services_default,
-        callback_group: CallbackGroup = None,
-        service_event_qos_profile: QoSProfile = qos_profile_system_default
+        callback_group: CallbackGroup = None
     ) -> Service:
         """
         Create a new service server.
@@ -1735,12 +1635,8 @@ def create_service(
         :param callback: A user-defined callback function that is called when a service request
             received by the server.
         :param qos_profile: The quality of service profile to apply the service server.
-        :param service_event_publisher_qos_profile: The quality of service
-            profile to apply the service event publisher.
         :param callback_group: The callback group for the service server. If ``None``, then the
             default callback group for the node is used.
-        :param service_event_qos_profile: The quality of service profile to apply to service
-            introspection (if enabled).
         """
         if callback_group is None:
             callback_group = self.default_callback_group
@@ -1752,9 +1648,7 @@ def create_service(
                     self.handle,
                     srv_type,
                     srv_name,
-                    qos_profile.get_c_qos_profile(),
-                    service_event_qos_profile.get_c_qos_profile(),
-                    self._clock.handle)
+                    qos_profile.get_c_qos_profile())
         except ValueError:
             failed = True
         if failed:
diff --git a/rclpy/rclpy/service.py b/rclpy/rclpy/service.py
index 3fe278792..adb55056a 100644
--- a/rclpy/rclpy/service.py
+++ b/rclpy/rclpy/service.py
@@ -16,8 +16,10 @@
 from typing import TypeVar
 
 from rclpy.callback_groups import CallbackGroup
+from rclpy.clock import Clock
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
 from rclpy.qos import QoSProfile
+from rclpy.service_introspection import ServiceIntrospectionState
 
 # Used for documentation purposes only
 SrvType = TypeVar('SrvType')
@@ -79,6 +81,23 @@ def send_response(self, response: SrvTypeResponse, header) -> None:
             else:
                 raise TypeError()
 
+    def configure_introspection(
+        self, clock: Clock,
+        service_event_qos_profile: QoSProfile,
+        introspection_state: ServiceIntrospectionState
+    ) -> None:
+        """
+        Configure service introspection.
+
+        :param clock: Clock to use for generating timestamps.
+        :param service_event_qos_profile: QoSProfile to use when creating service event publisher.
+        :param introspection_state: ServiceIntrospectionState to set introspection.
+        """
+        with self.handle:
+            self.__service.configure_introspection(clock.handle,
+                                                   service_event_qos_profile.get_c_qos_profile(),
+                                                   introspection_state)
+
     @property
     def handle(self):
         return self.__service
diff --git a/rclpy/rclpy/service_introspection.py b/rclpy/rclpy/service_introspection.py
new file mode 100644
index 000000000..77fcfd793
--- /dev/null
+++ b/rclpy/rclpy/service_introspection.py
@@ -0,0 +1,17 @@
+# Copyright 2023 Open Source Robotics Foundation, 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.
+
+from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
+
+ServiceIntrospectionState = _rclpy.service_introspection.ServiceIntrospectionState
diff --git a/rclpy/src/rclpy/_rclpy_pybind11.cpp b/rclpy/src/rclpy/_rclpy_pybind11.cpp
index 2e66a00da..307ff9afd 100644
--- a/rclpy/src/rclpy/_rclpy_pybind11.cpp
+++ b/rclpy/src/rclpy/_rclpy_pybind11.cpp
@@ -15,6 +15,7 @@
 #include <pybind11/pybind11.h>
 
 #include <rcl/domain_id.h>
+#include <rcl/service_introspection.h>
 #include <rcl/time.h>
 #include <rcl_action/types.h>
 
@@ -120,6 +121,8 @@ PYBIND11_MODULE(_rclpy_pybind11, m) {
   py::register_exception<rclpy::InvalidHandle>(
     m, "InvalidHandle", PyExc_RuntimeError);
 
+  rclpy::define_service_introspection(m);
+
   rclpy::define_client(m);
 
   rclpy::define_context(m);
@@ -241,5 +244,4 @@ PYBIND11_MODULE(_rclpy_pybind11, m) {
   rclpy::define_signal_handler_api(m);
   rclpy::define_clock_event(m);
   rclpy::define_lifecycle_api(m);
-  rclpy::define_service_introspection(m);
 }
diff --git a/rclpy/src/rclpy/client.cpp b/rclpy/src/rclpy/client.cpp
index 65a3c4f72..1376ec91a 100644
--- a/rclpy/src/rclpy/client.cpp
+++ b/rclpy/src/rclpy/client.cpp
@@ -17,12 +17,12 @@
 #include <rcl/client.h>
 #include <rcl/error_handling.h>
 #include <rcl/graph.h>
+#include <rcl/service_introspection.h>
 #include <rosidl_runtime_c/service_type_support_struct.h>
 #include <rmw/types.h>
 
 #include <memory>
 #include <string>
-#include <utility>
 
 #include "client.hpp"
 #include "clock.hpp"
@@ -42,25 +42,16 @@ Client::destroy()
 }
 
 Client::Client(
-  Node & node, py::object pysrv_type, const std::string & service_name, py::object pyqos_profile,
-  py::object pyqos_service_event_pub, Clock & clock)
+  Node & node, py::object pysrv_type, const std::string & service_name, py::object pyqos_profile)
 : node_(node)
 {
-  auto srv_type = static_cast<rosidl_service_type_support_t *>(
-    common_get_type_support(pysrv_type));
-  if (nullptr == srv_type) {
+  srv_type_ = static_cast<rosidl_service_type_support_t *>(common_get_type_support(pysrv_type));
+  if (nullptr == srv_type_) {
     throw py::error_already_set();
   }
 
   rcl_client_options_t client_ops = rcl_client_get_default_options();
 
-  if (rcl_node_get_options(node.rcl_ptr())->enable_service_introspection) {
-    client_ops.clock = clock.rcl_ptr();
-    client_ops.enable_service_introspection = true;
-    client_ops.event_publisher_options.qos = pyqos_service_event_pub.is_none() ?
-      rcl_publisher_get_default_options().qos : pyqos_service_event_pub.cast<rmw_qos_profile_t>();
-  }
-
   if (!pyqos_profile.is_none()) {
     client_ops.qos = pyqos_profile.cast<rmw_qos_profile_t>();
   }
@@ -86,7 +77,7 @@ Client::Client(
   *rcl_client_ = rcl_get_zero_initialized_client();
 
   rcl_ret_t ret = rcl_client_init(
-    rcl_client_.get(), node_.rcl_ptr(), srv_type, service_name.c_str(), &client_ops);
+    rcl_client_.get(), node_.rcl_ptr(), srv_type_, service_name.c_str(), &client_ops);
   if (RCL_RET_OK != ret) {
     if (RCL_RET_SERVICE_NAME_INVALID == ret) {
       std::string error_text{"failed to create client due to invalid service name '"};
@@ -155,11 +146,29 @@ Client::take_response(py::object pyresponse_type)
   return result_tuple;
 }
 
+void
+Client::configure_introspection(
+  Clock & clock, py::object pyqos_service_event_pub,
+  rcl_service_introspection_state_t introspection_state)
+{
+  rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();
+  pub_opts.qos =
+    pyqos_service_event_pub.is_none() ? rcl_publisher_get_default_options().qos :
+    pyqos_service_event_pub.cast<rmw_qos_profile_t>();
+
+  rcl_ret_t ret = rcl_client_configure_service_introspection(
+    rcl_client_.get(), node_.rcl_ptr(), clock.rcl_ptr(), srv_type_, pub_opts, introspection_state);
+
+  if (RCL_RET_OK != ret) {
+    throw RCLError("failed to configure client introspection");
+  }
+}
+
 void
 define_client(py::object module)
 {
   py::class_<Client, Destroyable, std::shared_ptr<Client>>(module, "Client")
-  .def(py::init<Node &, py::object, const std::string &, py::object, py::object, Clock &>())
+  .def(py::init<Node &, py::object, const std::string &, py::object>())
   .def_property_readonly(
     "pointer", [](const Client & client) {
       return reinterpret_cast<size_t>(client.rcl_ptr());
@@ -173,6 +182,9 @@ define_client(py::object module)
     "Return true if the service server is available")
   .def(
     "take_response", &Client::take_response,
-    "Take a received response from an earlier request");
+    "Take a received response from an earlier request")
+  .def(
+    "configure_introspection", &Client::configure_introspection,
+    "Configure whether introspection is enabled");
 }
 }  // namespace rclpy
diff --git a/rclpy/src/rclpy/client.hpp b/rclpy/src/rclpy/client.hpp
index 4872d74c5..90088afce 100644
--- a/rclpy/src/rclpy/client.hpp
+++ b/rclpy/src/rclpy/client.hpp
@@ -18,6 +18,7 @@
 #include <pybind11/pybind11.h>
 
 #include <rcl/client.h>
+#include <rcl/service_introspection.h>
 #include <rmw/types.h>
 
 #include <memory>
@@ -47,12 +48,8 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
    * \param[in] pysrv_type Service module associated with the client
    * \param[in] service_name The service name
    * \param[in] pyqos QoSProfile python object for this client
-   * \param[in] pyqos_service_event_pub QoSProfile python object for the service event publisher
-   * \param[in] clock Clock to use for service event timestamps
    */
-  Client(
-    Node & node, py::object pysrv_type, const std::string & service_name, py::object pyqos,
-    py::object pyqos_service_event_pub, Clock & clock);
+  Client(Node & node, py::object pysrv_type, const std::string & service_name, py::object pyqos);
 
   ~Client() = default;
 
@@ -93,6 +90,17 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
     return rcl_client_.get();
   }
 
+  /// Configure introspection.
+  /**
+   * \param[in] clock clock to use for service event timestamps
+   * \param[in] pyqos_service_event_pub QoSProfile python object for the service event publisher
+   * \param[in] introspection_state which state to set introspection to
+   */
+  void
+  configure_introspection(
+    Clock & clock, py::object pyqos_service_event_pub,
+    rcl_service_introspection_state_t introspection_state);
+
   /// Force an early destruction of this object
   void
   destroy() override;
@@ -100,6 +108,7 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
 private:
   Node node_;
   std::shared_ptr<rcl_client_t> rcl_client_;
+  rosidl_service_type_support_t * srv_type_;
 };
 
 /// Define a pybind11 wrapper for an rclpy::Client
diff --git a/rclpy/src/rclpy/node.cpp b/rclpy/src/rclpy/node.cpp
index 444db36de..50a00e000 100644
--- a/rclpy/src/rclpy/node.cpp
+++ b/rclpy/src/rclpy/node.cpp
@@ -16,7 +16,6 @@
 
 #include <rcl_action/rcl_action.h>
 #include <rcl/error_handling.h>
-#include <rcl/service_introspection.h>
 #include <rcl/graph.h>
 #include <rcl/types.h>
 #include <rcl_interfaces/msg/parameter_type.h>
@@ -383,8 +382,7 @@ Node::Node(
   Context & context,
   py::object pycli_args,
   bool use_global_arguments,
-  bool enable_rosout,
-  bool enable_service_introspection)
+  bool enable_rosout)
 : context_(context)
 {
   rcl_ret_t ret;
@@ -460,7 +458,6 @@ Node::Node(
   options.use_global_arguments = use_global_arguments;
   options.arguments = arguments;
   options.enable_rosout = enable_rosout;
-  options.enable_service_introspection = enable_service_introspection;
 
   {
     rclpy::LoggingGuard scoped_logging_guard;
@@ -534,12 +531,11 @@ Node::get_action_names_and_types()
   return convert_to_py_names_and_types(&names_and_types);
 }
 
-
 void
 define_node(py::object module)
 {
   py::class_<Node, Destroyable, std::shared_ptr<Node>>(module, "Node")
-  .def(py::init<const char *, const char *, Context &, py::object, bool, bool, bool>())
+  .def(py::init<const char *, const char *, Context &, py::object, bool, bool>())
   .def_property_readonly(
     "pointer", [](const Node & node) {
       return reinterpret_cast<size_t>(node.rcl_ptr());
diff --git a/rclpy/src/rclpy/node.hpp b/rclpy/src/rclpy/node.hpp
index 7bc0c4978..bd17c516e 100644
--- a/rclpy/src/rclpy/node.hpp
+++ b/rclpy/src/rclpy/node.hpp
@@ -52,8 +52,7 @@ class Node : public Destroyable, public std::enable_shared_from_this<Node>
     Context & context,
     py::object pycli_args,
     bool use_global_arguments,
-    bool enable_rosout,
-    bool enable_service_introspection);
+    bool enable_rosout);
 
   /// Get the fully qualified name of the node.
   /**
diff --git a/rclpy/src/rclpy/service.cpp b/rclpy/src/rclpy/service.cpp
index 5aec77ed4..ad50dbd51 100644
--- a/rclpy/src/rclpy/service.cpp
+++ b/rclpy/src/rclpy/service.cpp
@@ -16,6 +16,7 @@
 
 #include <rcl/error_handling.h>
 #include <rcl/service.h>
+#include <rcl/service_introspection.h>
 #include <rosidl_runtime_c/service_type_support_struct.h>
 #include <rmw/types.h>
 
@@ -38,29 +39,21 @@ Service::destroy()
   node_.destroy();
 }
 
-// TODO(clalancette): Why is this a std::string, while Client is a const char *?
 Service::Service(
   Node & node, py::object pysrv_type, const std::string & service_name,
-  py::object pyqos_srv_profile, py::object pyqos_service_event_pub, Clock & clock)
+  py::object pyqos_profile)
 : node_(node)
 {
-  auto * srv_type = static_cast<rosidl_service_type_support_t *>(
+  srv_type_ = static_cast<rosidl_service_type_support_t *>(
     common_get_type_support(pysrv_type));
-  if (nullptr == srv_type) {
+  if (nullptr == srv_type_) {
     throw py::error_already_set();
   }
 
   rcl_service_options_t service_ops = rcl_service_get_default_options();
 
-  if (rcl_node_get_options(node.rcl_ptr())->enable_service_introspection) {
-    service_ops.clock = clock.rcl_ptr();
-    service_ops.enable_service_introspection = true;
-    service_ops.event_publisher_options.qos = pyqos_service_event_pub.is_none() ?
-      rcl_publisher_get_default_options().qos : pyqos_service_event_pub.cast<rmw_qos_profile_t>();
-  }
-
-  if (!pyqos_srv_profile.is_none()) {
-    service_ops.qos = pyqos_srv_profile.cast<rmw_qos_profile_t>();
+  if (!pyqos_profile.is_none()) {
+    service_ops.qos = pyqos_profile.cast<rmw_qos_profile_t>();
   }
 
   // Create a service
@@ -84,7 +77,8 @@ Service::Service(
   *rcl_service_ = rcl_get_zero_initialized_service();
 
   rcl_ret_t ret = rcl_service_init(
-    rcl_service_.get(), node_.rcl_ptr(), srv_type, service_name.c_str(), &service_ops);
+    rcl_service_.get(), node_.rcl_ptr(), srv_type_,
+    service_name.c_str(), &service_ops);
   if (RCL_RET_OK != ret) {
     if (ret == RCL_RET_SERVICE_NAME_INVALID) {
       std::string error_text{"failed to create service due to invalid topic name '"};
@@ -152,11 +146,29 @@ Service::get_qos_profile()
   return rclpy::convert_to_qos_dict(&options->qos);
 }
 
+void
+Service::configure_introspection(
+  Clock & clock, py::object pyqos_service_event_pub,
+  rcl_service_introspection_state_t introspection_state)
+{
+  rcl_publisher_options_t pub_opts = rcl_publisher_get_default_options();
+  pub_opts.qos =
+    pyqos_service_event_pub.is_none() ? rcl_publisher_get_default_options().qos :
+    pyqos_service_event_pub.cast<rmw_qos_profile_t>();
+
+  rcl_ret_t ret = rcl_service_configure_service_introspection(
+    rcl_service_.get(), node_.rcl_ptr(), clock.rcl_ptr(), srv_type_, pub_opts, introspection_state);
+
+  if (RCL_RET_OK != ret) {
+    throw RCLError("failed to configure service introspection");
+  }
+}
+
 void
 define_service(py::object module)
 {
   py::class_<Service, Destroyable, std::shared_ptr<Service>>(module, "Service")
-  .def(py::init<Node &, py::object, const std::string &, py::object, py::object, Clock &>())
+  .def(py::init<Node &, py::object, const std::string &, py::object>())
   .def_property_readonly(
     "pointer", [](const Service & service) {
       return reinterpret_cast<size_t>(service.rcl_ptr());
@@ -173,6 +185,9 @@ define_service(py::object module)
     "Send a response")
   .def(
     "service_take_request", &Service::service_take_request,
-    "Take a request from a given service");
+    "Take a request from a given service")
+  .def(
+    "configure_introspection", &Service::configure_introspection,
+    "Configure whether introspection is enabled");
 }
 }  // namespace rclpy
diff --git a/rclpy/src/rclpy/service.hpp b/rclpy/src/rclpy/service.hpp
index 4b2e0fa3b..278cad097 100644
--- a/rclpy/src/rclpy/service.hpp
+++ b/rclpy/src/rclpy/service.hpp
@@ -18,6 +18,7 @@
 #include <pybind11/pybind11.h>
 
 #include <rcl/service.h>
+#include <rcl/service_introspection.h>
 #include <rmw/types.h>
 
 #include <memory>
@@ -48,13 +49,11 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
    * \param[in] node Node to add the service to
    * \param[in] pysrv_type Service module associated with the service
    * \param[in] service_name Python object for the service name
-   * \param[in] pyqos_srv_profile QoSProfile Python object for this service
-   * \param[in] pyqos_service_event_pub QoSProfile Python object for the service event publisher
-   * \param[in] clock Clock to use for service event timestamps
+   * \param[in] pyqos_profile QoSProfile Python object for this service
    */
   Service(
     Node & node, py::object pysrv_type, const std::string & service_name,
-    py::object pyqos_srv_profile, py::object pyqos_service_event_pub, Clock & clock);
+    py::object pyqos_profile);
 
   Service(
     Node & node, std::shared_ptr<rcl_service_t> rcl_service);
@@ -100,6 +99,17 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
   py::dict
   get_qos_profile();
 
+  /// Configure introspection.
+  /**
+   * \param[in] clock clock to use for service event timestamps
+   * \param[in] pyqos_service_event_pub QoSProfile python object for the service event publisher
+   * \param[in] introspection_state which state to set introspection to
+   */
+  void
+  configure_introspection(
+    Clock & clock, py::object pyqos_service_event_pub,
+    rcl_service_introspection_state_t introspection_state);
+
   /// Force an early destruction of this object
   void
   destroy() override;
@@ -107,6 +117,7 @@ class Service : public Destroyable, public std::enable_shared_from_this<Service>
 private:
   Node node_;
   std::shared_ptr<rcl_service_t> rcl_service_;
+  rosidl_service_type_support_t * srv_type_;
 };
 
 /// Define a pybind11 wrapper for an rclpy::Service
diff --git a/rclpy/src/rclpy/service_introspection.cpp b/rclpy/src/rclpy/service_introspection.cpp
index a73ad68ab..8ac62bed2 100644
--- a/rclpy/src/rclpy/service_introspection.cpp
+++ b/rclpy/src/rclpy/service_introspection.cpp
@@ -12,13 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <cstddef>
-
 #include "service_introspection.hpp"
 #include "rcl/service_introspection.h"
-#include "rcl/client.h"
-#include "rcl/node.h"
-#include "rcl/service.h"
 
 namespace rclpy
 {
@@ -29,32 +24,10 @@ define_service_introspection(py::module_ module)
   py::module_ m2 = module.def_submodule(
     "service_introspection",
     "utilities for introspecting services");
-  m2.def(
-    "configure_service_events",
-    [](size_t srv, size_t node, bool opt) {
-      return rcl_service_introspection_configure_server_service_events(
-        reinterpret_cast<
-          rcl_service_t *>(srv), reinterpret_cast<rcl_node_t *>(node), opt);
-    });
-  m2.def(
-    "configure_client_events",
-    [](size_t clt, size_t node, bool opt) {
-      return rcl_service_introspection_configure_client_service_events(
-        reinterpret_cast<rcl_client_t
-        *>(clt), reinterpret_cast<rcl_node_t *>(node), opt);
-    });
-  m2.def(
-    "configure_service_message_payload", [](size_t srv, bool opt) {
-      return rcl_service_introspection_configure_server_service_event_message_payload(
-        reinterpret_cast<rcl_service_t *>(srv), opt);
-    });
-  m2.def(
-    "configure_client_message_payload", [](size_t clt, bool opt) {
-      return rcl_service_introspection_configure_client_service_event_message_payload(
-        reinterpret_cast<rcl_client_t *>(clt), opt);
-    });
-  m2.attr("RCL_SERVICE_INTROSPECTION_PUBLISH_CLIENT_PARAMETER") = "publish_client_events";
-  m2.attr("RCL_SERVICE_INTROSPECTION_PUBLISH_SERVICE_PARAMETER") = "publish_service_events";
-  m2.attr("RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX") = RCL_SERVICE_INTROSPECTION_TOPIC_POSTFIX;
+
+  py::enum_<rcl_service_introspection_state_t>(m2, "ServiceIntrospectionState")
+  .value("OFF", RCL_SERVICE_INTROSPECTION_OFF)
+  .value("METADATA", RCL_SERVICE_INTROSPECTION_METADATA)
+  .value("CONTENTS", RCL_SERVICE_INTROSPECTION_CONTENTS);
 }
 }  // namespace rclpy
diff --git a/rclpy/src/rclpy/service_introspection.hpp b/rclpy/src/rclpy/service_introspection.hpp
index 03ee33a1d..1f6173104 100644
--- a/rclpy/src/rclpy/service_introspection.hpp
+++ b/rclpy/src/rclpy/service_introspection.hpp
@@ -26,4 +26,5 @@ void
 define_service_introspection(py::module_ module);
 
 }  // namespace rclpy
+
 #endif  // RCLPY__SERVICE_INTROSPECTION_HPP_
diff --git a/rclpy/test/test_service_introspection.py b/rclpy/test/test_service_introspection.py
index 1d8889571..909a5e776 100644
--- a/rclpy/test/test_service_introspection.py
+++ b/rclpy/test/test_service_introspection.py
@@ -18,7 +18,8 @@
 
 import rclpy
 import rclpy.executors
-from rclpy.parameter import Parameter
+from rclpy.qos import qos_profile_system_default
+from rclpy.service_introspection import ServiceIntrospectionState
 from service_msgs.msg import ServiceEventInfo
 from test_msgs.srv import BasicTypes
 
@@ -32,7 +33,7 @@ def setUpClass(cls):
 
     def setUp(self):
         self.node = rclpy.create_node(
-            'TestServiceIntrospection', context=self.context, enable_service_introspection=True)
+            'TestServiceIntrospection', context=self.context)
         self.executor = rclpy.executors.SingleThreadedExecutor(context=self.context)
         self.executor.add_node(self.node)
         self.srv = self.node.create_service(BasicTypes, 'test_service', self.srv_callback)
@@ -61,9 +62,12 @@ def test_service_introspection_metadata(self):
         req.bool_value = False
         req.int64_value = 12345
 
-        self.node.set_parameters([
-            Parameter('publish_service_events', Parameter.Type.STRING, 'metadata'),
-            Parameter('publish_client_events', Parameter.Type.STRING, 'metadata')])
+        self.cli.configure_introspection(self.node.get_clock(),
+                                         qos_profile_system_default,
+                                         ServiceIntrospectionState.METADATA)
+        self.srv.configure_introspection(self.node.get_clock(),
+                                         qos_profile_system_default,
+                                         ServiceIntrospectionState.METADATA)
 
         future = self.cli.call_async(req)
         self.executor.spin_until_future_complete(future, timeout_sec=5.0)
@@ -104,9 +108,12 @@ def test_service_introspection_contents(self):
         req.bool_value = False
         req.int64_value = 12345
 
-        self.node.set_parameters([
-            Parameter('publish_service_events', Parameter.Type.STRING, 'contents'),
-            Parameter('publish_client_events', Parameter.Type.STRING, 'contents')])
+        self.cli.configure_introspection(self.node.get_clock(),
+                                         qos_profile_system_default,
+                                         ServiceIntrospectionState.CONTENTS)
+        self.srv.configure_introspection(self.node.get_clock(),
+                                         qos_profile_system_default,
+                                         ServiceIntrospectionState.CONTENTS)
 
         future = self.cli.call_async(req)
         self.executor.spin_until_future_complete(future, timeout_sec=5.0)
diff --git a/rclpy/test/test_waitable.py b/rclpy/test/test_waitable.py
index 1eca9d156..f79841c51 100644
--- a/rclpy/test/test_waitable.py
+++ b/rclpy/test/test_waitable.py
@@ -22,7 +22,6 @@
 from rclpy.clock import ClockType
 from rclpy.executors import SingleThreadedExecutor
 from rclpy.impl.implementation_singleton import rclpy_implementation as _rclpy
-from rclpy.qos import qos_profile_system_default
 from rclpy.qos import QoSProfile
 from rclpy.task import Future
 from rclpy.type_support import check_for_type_support
@@ -44,8 +43,7 @@ def __init__(self, node):
 
         with node.handle:
             self.client = _rclpy.Client(
-                node.handle, EmptySrv, 'test_client', QoSProfile(depth=10).get_c_qos_profile(),
-                qos_profile_system_default.get_c_qos_profile(), node.get_clock().handle)
+                node.handle, EmptySrv, 'test_client', QoSProfile(depth=10).get_c_qos_profile())
         self.client_index = None
         self.client_is_ready = False
 
@@ -88,8 +86,7 @@ def __init__(self, node):
 
         with node.handle:
             self.server = _rclpy.Service(
-                node.handle, EmptySrv, 'test_server', QoSProfile(depth=10).get_c_qos_profile(),
-                qos_profile_system_default.get_c_qos_profile(), node.get_clock().handle)
+                node.handle, EmptySrv, 'test_server', QoSProfile(depth=10).get_c_qos_profile())
         self.server_index = None
         self.server_is_ready = False