diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index 7279a6a97e..d54ea21c5e 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -1124,19 +1124,6 @@ class Node : public std::enable_shared_from_this<Node>
   const rclcpp::NodeOptions &
   get_node_options() const;
 
-  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
-  /**
-   * If the rmw Liveliness policy is set to RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE, the creator
-   * of this node may manually call `assert_liveliness` at some point in time to signal to the rest
-   * of the system that this Node is still alive.
-   *
-   * \return `true` if the liveliness was asserted successfully, otherwise `false`
-   */
-  RCLCPP_PUBLIC
-  RCUTILS_WARN_UNUSED
-  bool
-  assert_liveliness() const;
-
 protected:
   /// Construct a sub-node, which will extend the namespace of all entities created with it.
   /**
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_base.hpp b/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
index 73861df680..0e124f6f56 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_base.hpp
@@ -91,11 +91,6 @@ class NodeBase : public NodeBaseInterface
 
   RCLCPP_PUBLIC
 
-  bool
-  assert_liveliness() const override;
-
-  RCLCPP_PUBLIC
-
   rclcpp::CallbackGroup::SharedPtr
   create_callback_group(rclcpp::CallbackGroupType group_type) override;
 
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp b/rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
index 33e4ee3462..bcb469c0bf 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_base_interface.hpp
@@ -102,12 +102,6 @@ class NodeBaseInterface
   std::shared_ptr<const rcl_node_t>
   get_shared_rcl_node_handle() const = 0;
 
-  /// Manually assert that this Node is alive (for RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE).
-  RCLCPP_PUBLIC
-  virtual
-  bool
-  assert_liveliness() const = 0;
-
   /// Create and return a callback group.
   RCLCPP_PUBLIC
   virtual
diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
index 29a25eb645..30804809a4 100644
--- a/rclcpp/src/rclcpp/node.cpp
+++ b/rclcpp/src/rclcpp/node.cpp
@@ -499,9 +499,3 @@ Node::get_node_options() const
 {
   return this->node_options_;
 }
-
-bool
-Node::assert_liveliness() const
-{
-  return node_base_->assert_liveliness();
-}
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
index 0bdf2342e5..f055abaa25 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
@@ -202,12 +202,6 @@ NodeBase::get_shared_rcl_node_handle() const
   return node_handle_;
 }
 
-bool
-NodeBase::assert_liveliness() const
-{
-  return RCL_RET_OK == rcl_node_assert_liveliness(get_rcl_node_handle());
-}
-
 rclcpp::CallbackGroup::SharedPtr
 NodeBase::create_callback_group(rclcpp::CallbackGroupType group_type)
 {
diff --git a/rclcpp/test/test_node.cpp b/rclcpp/test/test_node.cpp
index e4851e17d8..3d034651ae 100644
--- a/rclcpp/test/test_node.cpp
+++ b/rclcpp/test/test_node.cpp
@@ -2591,7 +2591,7 @@ TEST_F(TestNode, get_publishers_subscriptions_info_by_topic) {
     RMW_QOS_POLICY_DURABILITY_VOLATILE,
     {15, 1678},
     {29, 2345},
-    RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE,
+    RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
     {5, 23456},
     false
   };
diff --git a/rclcpp/test/test_qos.cpp b/rclcpp/test/test_qos.cpp
index b80c7763ca..7188119ceb 100644
--- a/rclcpp/test/test_qos.cpp
+++ b/rclcpp/test/test_qos.cpp
@@ -65,7 +65,7 @@ TEST(TestQoS, equality_liveliness) {
   EXPECT_NE(a, b);
   b.liveliness_lease_duration(duration);
   EXPECT_EQ(a, b);
-  a.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_NODE);
+  a.liveliness(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC);
   EXPECT_NE(a, b);
 }