diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp
index b73b62d720..2f3c00f4f7 100644
--- a/rclcpp/include/rclcpp/node.hpp
+++ b/rclcpp/include/rclcpp/node.hpp
@@ -277,7 +277,7 @@ class Node : public std::enable_shared_from_this<Node>
    * If `ignore_override` is `true`, the parameter override will be ignored.
    *
    * This method, if successful, will result in any callback registered with
-   * set_on_parameters_set_callback to be called.
+   * add_on_set_parameters_callback to be called.
    * If that callback prevents the initial value for the parameter from being
    * set then rclcpp::exceptions::InvalidParameterValueException is thrown.
    *
@@ -359,7 +359,7 @@ class Node : public std::enable_shared_from_this<Node>
    * by the function call will be ignored.
    *
    * This method, if successful, will result in any callback registered with
-   * set_on_parameters_set_callback to be called, once for each parameter.
+   * add_on_set_parameters_callback to be called, once for each parameter.
    * If that callback prevents the initial value for any parameter from being
    * set then rclcpp::exceptions::InvalidParameterValueException is thrown.
    *
@@ -401,7 +401,7 @@ class Node : public std::enable_shared_from_this<Node>
   /// Undeclare a previously declared parameter.
   /**
    * This method will not cause a callback registered with
-   * set_on_parameters_set_callback to be called.
+   * add_on_set_parameters_callback to be called.
    *
    * \param[in] name The name of the parameter to be undeclared.
    * \throws rclcpp::exceptions::ParameterNotDeclaredException if the parameter
@@ -435,7 +435,7 @@ class Node : public std::enable_shared_from_this<Node>
    * Parameter overrides are ignored by set_parameter.
    *
    * This method will result in any callback registered with
-   * set_on_parameters_set_callback to be called.
+   * add_on_set_parameters_callback to be called.
    * If the callback prevents the parameter from being set, then it will be
    * reflected in the SetParametersResult that is returned, but no exception
    * will be thrown.
@@ -476,7 +476,7 @@ class Node : public std::enable_shared_from_this<Node>
    * corresponding SetParametersResult in the vector returned by this function.
    *
    * This method will result in any callback registered with
-   * set_on_parameters_set_callback to be called, once for each parameter.
+   * add_on_set_parameters_callback to be called, once for each parameter.
    * If the callback prevents the parameter from being set, then, as mentioned
    * before, it will be reflected in the corresponding SetParametersResult
    * that is returned, but no exception will be thrown.
@@ -507,7 +507,7 @@ class Node : public std::enable_shared_from_this<Node>
    * If the exception is thrown then none of the parameters will have been set.
    *
    * This method will result in any callback registered with
-   * set_on_parameters_set_callback to be called, just one time.
+   * add_on_set_parameters_callback to be called, just one time.
    * If the callback prevents the parameters from being set, then it will be
    * reflected in the SetParametersResult which is returned, but no exception
    * will be thrown.
@@ -787,7 +787,7 @@ class Node : public std::enable_shared_from_this<Node>
    * of the {get,list,describe}_parameter() methods), but may *not* modify
    * other parameters (by calling any of the {set,declare}_parameter() methods)
    * or modify the registered callback itself (by calling the
-   * set_on_parameters_set_callback() method).  If a callback tries to do any
+   * add_on_set_parameters_callback() method).  If a callback tries to do any
    * of the latter things,
    * rclcpp::exceptions::ParameterModifiedInCallbackException will be thrown.
    *
@@ -839,6 +839,7 @@ class Node : public std::enable_shared_from_this<Node>
 
   /// Register a callback to be called anytime a parameter is about to be changed.
   /**
+   * \deprecated Use add_on_set_parameters_callback instead.
    * With this method, only one callback can be set at a time. The callback that was previously
    * set by this method is returned or `nullptr` if no callback was previously set.
    *
@@ -851,6 +852,7 @@ class Node : public std::enable_shared_from_this<Node>
    * \return The previous callback that was registered, if there was one,
    *   otherwise nullptr.
    */
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
   RCLCPP_PUBLIC
   OnParametersSetCallbackType
   set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp b/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
index 4227904af7..cf2676810a 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp
@@ -167,6 +167,7 @@ class NodeParameters : public NodeParametersInterface
   void
   remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * const handler) override;
 
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
   RCLCPP_PUBLIC
   OnParametersSetCallbackType
   set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
diff --git a/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp b/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
index f1102c0afd..c44763a09a 100644
--- a/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
+++ b/rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp
@@ -193,8 +193,10 @@ class NodeParametersInterface
 
   /// Register a callback for when parameters are being set, return an existing one.
   /**
+   * \deprecated Use add_on_set_parameters_callback instead.
    * \sa rclcpp::Node::set_on_parameters_set_callback
    */
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
   RCLCPP_PUBLIC
   virtual
   OnParametersSetCallbackType
diff --git a/rclcpp/src/rclcpp/node.cpp b/rclcpp/src/rclcpp/node.cpp
index b1f9e66f6a..778d33ed01 100644
--- a/rclcpp/src/rclcpp/node.cpp
+++ b/rclcpp/src/rclcpp/node.cpp
@@ -328,12 +328,28 @@ Node::remove_on_set_parameters_callback(const OnSetParametersCallbackHandle * co
   return node_parameters_->remove_on_set_parameters_callback(callback);
 }
 
+// suppress deprecated function warning
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+
 rclcpp::Node::OnParametersSetCallbackType
 Node::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
 {
   return node_parameters_->set_on_parameters_set_callback(callback);
 }
 
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
 std::vector<std::string>
 Node::get_node_names() const
 {
diff --git a/rclcpp/test/test_node.cpp b/rclcpp/test/test_node.cpp
index 3d034651ae..f5cd2a2ae9 100644
--- a/rclcpp/test/test_node.cpp
+++ b/rclcpp/test/test_node.cpp
@@ -349,7 +349,6 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
   }
   {
     // parameter rejected throws
-    RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
     auto name = "parameter"_unq;
     auto on_set_parameters =
       [&name](const std::vector<rclcpp::Parameter> & parameters) {
@@ -366,7 +365,8 @@ TEST_F(TestNode, declare_parameter_with_no_initial_values) {
         }
         return result;
       };
-    EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
+    auto handler = node->add_on_set_parameters_callback(on_set_parameters);
+    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});   // always reset
     EXPECT_THROW(
       {node->declare_parameter<std::string>(name, "not an int");},
       rclcpp::exceptions::InvalidParameterValueException);
@@ -546,7 +546,6 @@ TEST_F(TestNode, declare_parameter_with_overrides) {
   }
   {
     // parameter rejected throws, with initial value
-    RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
     auto name = std::string("parameter_rejected");
     auto on_set_parameters =
       [&name](const std::vector<rclcpp::Parameter> & parameters) {
@@ -565,7 +564,8 @@ TEST_F(TestNode, declare_parameter_with_overrides) {
         }
         return result;
       };
-    EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
+    auto handler = node->add_on_set_parameters_callback(on_set_parameters);
+    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
     EXPECT_THROW(
       {node->declare_parameter<int>(name, 43);},
       rclcpp::exceptions::InvalidParameterValueException);
@@ -659,7 +659,6 @@ TEST_F(TestNode, declare_parameters_with_no_initial_values) {
   }
   {
     // parameter rejected throws
-    RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
     auto name = "parameter"_unq;
     auto on_set_parameters =
       [&name](const std::vector<rclcpp::Parameter> & parameters) {
@@ -676,7 +675,8 @@ TEST_F(TestNode, declare_parameters_with_no_initial_values) {
         }
         return result;
       };
-    EXPECT_EQ(node->set_on_parameters_set_callback(on_set_parameters), nullptr);
+    auto handler = node->add_on_set_parameters_callback(on_set_parameters);
+    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
     EXPECT_THROW(
       {node->declare_parameters<std::string>("", {{name, "not an int"}});},
       rclcpp::exceptions::InvalidParameterValueException);
@@ -854,7 +854,6 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
     auto name = "parameter"_unq;
     node->declare_parameter(name, 42);
 
-    RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
     auto on_set_parameters =
       [](const std::vector<rclcpp::Parameter> &) {
         rcl_interfaces::msg::SetParametersResult result;
@@ -862,7 +861,8 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
         result.reason = "no parameter may not be set right now";
         return result;
       };
-    node->set_on_parameters_set_callback(on_set_parameters);
+    auto handler = node->add_on_set_parameters_callback(on_set_parameters);
+    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
 
     EXPECT_FALSE(node->set_parameter(rclcpp::Parameter(name, 43)).successful);
   }
@@ -1350,7 +1350,6 @@ TEST_F(TestNode, set_parameters_undeclared_parameters_not_allowed) {
     node->declare_parameter(name2, true);
     node->declare_parameter<std::string>(name3, "blue");
 
-    RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
     auto on_set_parameters =
       [&name2](const std::vector<rclcpp::Parameter> & ps) {
         rcl_interfaces::msg::SetParametersResult result;
@@ -1361,7 +1360,8 @@ TEST_F(TestNode, set_parameters_undeclared_parameters_not_allowed) {
         }
         return result;
       };
-    node->set_on_parameters_set_callback(on_set_parameters);
+    auto handler = node->add_on_set_parameters_callback(on_set_parameters);
+    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
 
     auto rets = node->set_parameters(
     {
@@ -1527,7 +1527,6 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_not_allowed) {
     node->declare_parameter(name2, true);
     node->declare_parameter<std::string>(name3, "blue");
 
-    RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
     auto on_set_parameters =
       [&name2](const std::vector<rclcpp::Parameter> & ps) {
         rcl_interfaces::msg::SetParametersResult result;
@@ -1538,7 +1537,8 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_not_allowed) {
         }
         return result;
       };
-    node->set_on_parameters_set_callback(on_set_parameters);
+    auto handler = node->add_on_set_parameters_callback(on_set_parameters);
+    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
 
     auto ret = node->set_parameters_atomically(
     {
@@ -1638,7 +1638,6 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_allowed) {
     EXPECT_TRUE(node->has_parameter(name3));
     EXPECT_EQ(node->get_parameter(name3).get_value<std::string>(), "test");
 
-    RCLCPP_SCOPE_EXIT({node->set_on_parameters_set_callback(nullptr);});    // always reset
     auto on_set_parameters =
       [&name3](const std::vector<rclcpp::Parameter> & ps) {
         rcl_interfaces::msg::SetParametersResult result;
@@ -1649,7 +1648,8 @@ TEST_F(TestNode, set_parameters_atomically_undeclared_parameters_allowed) {
         }
         return result;
       };
-    node->set_on_parameters_set_callback(on_set_parameters);
+    auto handler = node->add_on_set_parameters_callback(on_set_parameters);
+    RCLCPP_SCOPE_EXIT({node->remove_on_set_parameters_callback(handler.get());});    // always reset
 
     auto ret = node->set_parameters_atomically(
     {
@@ -2329,6 +2329,15 @@ TEST_F(TestNode, get_parameter_types_undeclared_parameters_allowed) {
   }
 }
 
+// suppress deprecated function test warnings
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+
 // test that it is possible to call get_parameter within the set_callback
 TEST_F(TestNode, set_on_parameters_set_callback_get_parameter) {
   auto node = std::make_shared<rclcpp::Node>("test_set_callback_get_parameter_node"_unq);
@@ -2513,6 +2522,13 @@ TEST_F(TestNode, set_on_parameters_set_callback_set_on_parameters_set_callback)
   }, rclcpp::exceptions::ParameterModifiedInCallbackException);
 }
 
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
 void expect_qos_profile_eq(
   const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2, bool is_publisher)
 {
diff --git a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
index 416bf5b53f..5c234e8f2d 100644
--- a/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
+++ b/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
@@ -472,8 +472,10 @@ class LifecycleNode : public node_interfaces::LifecycleNodeInterface,
 
   /// Register a callback to be called anytime a parameter is about to be changed.
   /**
+   * \deprecated Use add_on_set_parameters_callback instead.
    * \sa rclcpp::Node::set_on_parameters_set_callback
    */
+  [[deprecated("use add_on_set_parameters_callback(OnParametersSetCallbackType callback) instead")]]
   RCLCPP_LIFECYCLE_PUBLIC
   rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType
   set_on_parameters_set_callback(
diff --git a/rclcpp_lifecycle/src/lifecycle_node.cpp b/rclcpp_lifecycle/src/lifecycle_node.cpp
index 2ca04f0e0b..1d7210546c 100644
--- a/rclcpp_lifecycle/src/lifecycle_node.cpp
+++ b/rclcpp_lifecycle/src/lifecycle_node.cpp
@@ -268,12 +268,28 @@ LifecycleNode::remove_on_set_parameters_callback(
   node_parameters_->remove_on_set_parameters_callback(callback);
 }
 
+// suppress deprecated function warning
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
+
 rclcpp::Node::OnParametersSetCallbackType
 LifecycleNode::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
 {
   return node_parameters_->set_on_parameters_set_callback(callback);
 }
 
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
 std::vector<std::string>
 LifecycleNode::get_node_names() const
 {
diff --git a/rclcpp_lifecycle/test/test_lifecycle_node.cpp b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
index 57d8b63bf0..713baca8d2 100644
--- a/rclcpp_lifecycle/test/test_lifecycle_node.cpp
+++ b/rclcpp_lifecycle/test/test_lifecycle_node.cpp
@@ -427,7 +427,7 @@ TEST_F(TestDefaultStateMachine, check_parameters) {
       return result;
     };
 
-  test_node->set_on_parameters_set_callback(callback);
+  test_node->add_on_set_parameters_callback(callback);
   rclcpp::Parameter bool_parameter(bool_name, rclcpp::ParameterValue(false));
   EXPECT_TRUE(test_node->set_parameter(bool_parameter).successful);
   EXPECT_EQ(parameters_set, 1u);