diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index cdf3084c07..7e5f402f8a 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -148,11 +148,6 @@ class Node : public std::enable_shared_from_this<Node>
     rclcpp::CallbackGroupType group_type,
     bool automatically_add_to_executor_with_node = true);
 
-  /// Return the list of callback groups in the node.
-  RCLCPP_PUBLIC
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-  get_callback_groups() const;
-
   /// Iterate over the callback groups in the node, calling the given function on each valid one.
   /**
    * This method is called in a thread-safe way, and also makes sure to only call the given
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_base.hpp b/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
index e8af3bed54..8a19a6c9df 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
@@ -98,10 +98,6 @@ class NodeBase : public NodeBaseInterface
   bool
   callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) override;
 
-  RCLCPP_PUBLIC
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-  get_callback_groups() const override;
-
   /// Iterate over the stored callback groups, calling the given function on each valid one.
   /**
    * This method is called in a thread-safe way, and also makes sure to only call the given
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp b/rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
index 8b5a75aa03..ebe7b1b98e 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
@@ -122,12 +122,6 @@ class NodeBaseInterface
   bool
   callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group) = 0;
 
-  /// Return list of callback groups associated with this node.
-  RCLCPP_PUBLIC
-  virtual
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-  get_callback_groups() const = 0;
-
   using CallbackGroupFunction = std::function<void (rclcpp::CallbackGroup::SharedPtr)>;
 
   /// Iterate over the stored callback groups, calling the given function on each valid one.
diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
index 39e7bca139..c9ed1e3ac2 100644
--- a/rclcpp/src/rclcpp/node.cpp
+++ b/rclcpp/src/rclcpp/node.cpp
@@ -482,12 +482,6 @@ Node::get_subscriptions_info_by_topic(const std::string & topic_name, bool no_ma
   return node_graph_->get_subscriptions_info_by_topic(topic_name, no_mangle);
 }
 
-const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-Node::get_callback_groups() const
-{
-  return node_base_->get_callback_groups();
-}
-
 void
 Node::for_each_callback_group(
   const node_interfaces::NodeBaseInterface::CallbackGroupFunction & func)
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
index 98c28cbc23..5240c8c818 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
@@ -248,12 +248,6 @@ NodeBase::callback_group_in_node(rclcpp::CallbackGroup::SharedPtr group)
   return false;
 }
 
-const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-NodeBase::get_callback_groups() const
-{
-  return callback_groups_;
-}
-
 void NodeBase::for_each_callback_group(const CallbackGroupFunction & func)
 {
   std::lock_guard<std::mutex> lock(callback_groups_mutex_);
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index 1474765913..028afe4be5 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -192,14 +192,6 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
     rclcpp::CallbackGroupType group_type,
     bool automatically_add_to_executor_with_node = true);
 
-  /// Return the list of callback groups in the node.
-  /**
-   * \return list of callback groups in the node.
-   */
-  RCLCPP_LIFECYCLE_PUBLIC
-  const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-  get_callback_groups() const;
-
   /// Iterate over the callback groups in the node, calling func on each valid one.
   RCLCPP_PUBLIC
   void
diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
index 0d7eb9d592..d2bd49bcf7 100644
--- a/rclcpp_lifecycle/src/lifecycle_node.cpp
+++ b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -365,12 +365,6 @@ LifecycleNode::get_subscriptions_info_by_topic(const std::string & topic_name, b
   return node_graph_->get_subscriptions_info_by_topic(topic_name, no_mangle);
 }
 
-const std::vector<rclcpp::CallbackGroup::WeakPtr> &
-LifecycleNode::get_callback_groups() const
-{
-  return node_base_->get_callback_groups();
-}
-
 void
 LifecycleNode::for_each_callback_group(
   const rclcpp::node_interfaces::NodeBaseInterface::CallbackGroupFunction & func)