diff --git a/dot/core/digest.go b/dot/core/digest.go
index 64a61201a7..0758625204 100644
--- a/dot/core/digest.go
+++ b/dot/core/digest.go
@@ -97,18 +97,20 @@ func NewDigestHandler(blockState BlockState, epochState EpochState, grandpaState
 }
 
 // Start starts the DigestHandler
-func (h *DigestHandler) Start() {
+func (h *DigestHandler) Start() error {
 	go h.handleBlockImport(h.ctx)
 	go h.handleBlockFinalisation(h.ctx)
+	return nil
 }
 
 // Stop stops the DigestHandler
-func (h *DigestHandler) Stop() {
+func (h *DigestHandler) Stop() error {
 	h.cancel()
 	h.blockState.UnregisterImportedChannel(h.importedID)
 	h.blockState.UnregisterFinalizedChannel(h.finalisedID)
 	close(h.imported)
 	close(h.finalised)
+	return nil
 }
 
 // NextGrandpaAuthorityChange returns the block number of the next upcoming grandpa authorities change.
@@ -145,6 +147,8 @@ func (h *DigestHandler) HandleConsensusDigest(d *types.ConsensusDigest, header *
 			return h.handleScheduledChange(d, header)
 		case types.GrandpaForcedChangeType:
 			return h.handleForcedChange(d, header)
+		case types.GrandpaOnDisabledType:
+			return nil // do nothing, as this is not implemented in substrate
 		case types.GrandpaPauseType:
 			return h.handlePause(d)
 		case types.GrandpaResumeType:
@@ -208,18 +212,24 @@ func (h *DigestHandler) handleBlockFinalisation(ctx context.Context) {
 
 func (h *DigestHandler) handleGrandpaChangesOnImport(num *big.Int) error {
 	resume := h.grandpaResume
-	if resume != nil && num.Cmp(resume.atBlock) == 0 {
+	if resume != nil && num.Cmp(resume.atBlock) > -1 {
 		h.grandpaResume = nil
 	}
 
 	fc := h.grandpaForcedChange
-	if fc != nil && num.Cmp(fc.atBlock) == 0 {
+	if fc != nil && num.Cmp(fc.atBlock) > -1 {
 		err := h.grandpaState.IncrementSetID()
 		if err != nil {
 			return err
 		}
 
 		h.grandpaForcedChange = nil
+		curr, err := h.grandpaState.GetCurrentSetID()
+		if err != nil {
+			return err
+		}
+
+		logger.Debug("incremented grandpa set ID", "set ID", curr)
 	}
 
 	return nil
@@ -227,18 +237,24 @@ func (h *DigestHandler) handleGrandpaChangesOnImport(num *big.Int) error {
 
 func (h *DigestHandler) handleGrandpaChangesOnFinalization(num *big.Int) error {
 	pause := h.grandpaPause
-	if pause != nil && num.Cmp(pause.atBlock) == 0 {
+	if pause != nil && num.Cmp(pause.atBlock) > -1 {
 		h.grandpaPause = nil
 	}
 
 	sc := h.grandpaScheduledChange
-	if sc != nil && num.Cmp(sc.atBlock) == 0 {
+	if sc != nil && num.Cmp(sc.atBlock) > -1 {
 		err := h.grandpaState.IncrementSetID()
 		if err != nil {
 			return err
 		}
 
 		h.grandpaScheduledChange = nil
+		curr, err := h.grandpaState.GetCurrentSetID()
+		if err != nil {
+			return err
+		}
+
+		logger.Debug("incremented grandpa set ID", "set ID", curr)
 	}
 
 	// if blocks get finalised before forced change takes place, disregard it
@@ -281,7 +297,11 @@ func (h *DigestHandler) handleScheduledChange(d *types.ConsensusDigest, header *
 		return err
 	}
 
-	return h.grandpaState.SetNextChange(types.NewGrandpaVotersFromAuthorities(auths), big.NewInt(0).Add(header.Number, big.NewInt(int64(sc.Delay))))
+	logger.Debug("setting GrandpaScheduledChange", "at block", big.NewInt(0).Add(header.Number, big.NewInt(int64(sc.Delay))))
+	return h.grandpaState.SetNextChange(
+		types.NewGrandpaVotersFromAuthorities(auths),
+		big.NewInt(0).Add(header.Number, big.NewInt(int64(sc.Delay))),
+	)
 }
 
 func (h *DigestHandler) handleForcedChange(d *types.ConsensusDigest, header *types.Header) error {
@@ -318,6 +338,7 @@ func (h *DigestHandler) handleForcedChange(d *types.ConsensusDigest, header *typ
 		return err
 	}
 
+	logger.Debug("setting GrandpaForcedChange", "at block", big.NewInt(0).Add(header.Number, big.NewInt(int64(fc.Delay))))
 	return h.grandpaState.SetNextChange(
 		types.NewGrandpaVotersFromAuthorities(auths),
 		big.NewInt(0).Add(header.Number, big.NewInt(int64(fc.Delay))),
diff --git a/dot/core/interface.go b/dot/core/interface.go
index 5c1cd1e52c..04df6bdc77 100644
--- a/dot/core/interface.go
+++ b/dot/core/interface.go
@@ -99,4 +99,5 @@ type GrandpaState interface {
 	IncrementSetID() error
 	SetNextPause(number *big.Int) error
 	SetNextResume(number *big.Int) error
+	GetCurrentSetID() (uint64, error)
 }
diff --git a/dot/network/sync.go b/dot/network/sync.go
index 96be08abe3..d50f1f5614 100644
--- a/dot/network/sync.go
+++ b/dot/network/sync.go
@@ -793,7 +793,7 @@ func (q *syncQueue) handleBlockAnnounceHandshake(blockNum uint32, from peer.ID)
 
 func (q *syncQueue) handleBlockAnnounce(msg *BlockAnnounceMessage, from peer.ID) {
 	q.updatePeerScore(from, 1)
-	logger.Info("received BlockAnnounce", "number", msg.Number, "from", from)
+	logger.Debug("received BlockAnnounce", "number", msg.Number, "from", from)
 
 	header, err := types.NewHeader(msg.ParentHash, msg.StateRoot, msg.ExtrinsicsRoot, msg.Number, msg.Digest)
 	if err != nil {
diff --git a/dot/node.go b/dot/node.go
index fc6288b6c3..b2e02e826e 100644
--- a/dot/node.go
+++ b/dot/node.go
@@ -241,6 +241,7 @@ func NewNode(cfg *Config, ks *keystore.GlobalKeystore, stopFunc func()) (*Node,
 	if err != nil {
 		return nil, err
 	}
+	nodeSrvcs = append(nodeSrvcs, dh)
 
 	// create GRANDPA service
 	fg, err := createGRANDPAService(cfg, rt, stateSrvc, dh, ks.Gran, networkSrvc)
diff --git a/dot/state/block_notify.go b/dot/state/block_notify.go
index 1e9705d73b..b4aa44bfc3 100644
--- a/dot/state/block_notify.go
+++ b/dot/state/block_notify.go
@@ -125,7 +125,7 @@ func (bs *BlockState) notifyFinalized(hash common.Hash) {
 		return
 	}
 
-	logger.Trace("notifying finalised block chans...", "chans", bs.finalised)
+	logger.Debug("notifying finalised block chans...", "chans", bs.finalised)
 
 	for _, ch := range bs.finalised {
 		go func(ch chan<- *types.Header) {
diff --git a/dot/state/grandpa.go b/dot/state/grandpa.go
index cc159bdf2c..20ff4488b9 100644
--- a/dot/state/grandpa.go
+++ b/dot/state/grandpa.go
@@ -59,6 +59,11 @@ func NewGrandpaStateFromGenesis(db chaindb.Database, genesisAuthorities []*types
 		return nil, err
 	}
 
+	err = s.setSetIDChangeAtBlock(genesisSetID, big.NewInt(0))
+	if err != nil {
+		return nil, err
+	}
+
 	return s, nil
 }
 
@@ -180,6 +185,49 @@ func (s *GrandpaState) GetSetIDChange(setID uint64) (*big.Int, error) {
 	return big.NewInt(0).SetBytes(num), nil
 }
 
+// GetSetIDByBlockNumber returns the set ID for a given block number
+func (s *GrandpaState) GetSetIDByBlockNumber(num *big.Int) (uint64, error) {
+	curr, err := s.GetCurrentSetID()
+	if err != nil {
+		return 0, err
+	}
+
+	for {
+		changeUpper, err := s.GetSetIDChange(curr + 1)
+		if err == chaindb.ErrKeyNotFound {
+			if curr == 0 {
+				return 0, nil
+			}
+			curr = curr - 1
+			continue
+		}
+		if err != nil {
+			return 0, err
+		}
+
+		changeLower, err := s.GetSetIDChange(curr)
+		if err != nil {
+			return 0, err
+		}
+
+		// if the given block number is greater or equal to the block number of the set ID change,
+		// return the current set ID
+		if num.Cmp(changeUpper) < 1 && num.Cmp(changeLower) == 1 {
+			return curr, nil
+		}
+
+		if num.Cmp(changeUpper) == 1 {
+			return curr + 1, nil
+		}
+
+		curr = curr - 1
+
+		if int(curr) < 0 {
+			return 0, nil
+		}
+	}
+}
+
 // SetNextPause sets the next grandpa pause at the given block number
 func (s *GrandpaState) SetNextPause(number *big.Int) error {
 	return s.db.Put(pauseKey, number.Bytes())
diff --git a/dot/state/grandpa_test.go b/dot/state/grandpa_test.go
index 24638e4dfd..cc1a2ee55a 100644
--- a/dot/state/grandpa_test.go
+++ b/dot/state/grandpa_test.go
@@ -46,6 +46,10 @@ func TestNewGrandpaStateFromGenesis(t *testing.T) {
 	auths, err := gs.GetAuthorities(currSetID)
 	require.NoError(t, err)
 	require.Equal(t, testAuths, auths)
+
+	num, err := gs.GetSetIDChange(0)
+	require.NoError(t, err)
+	require.Equal(t, big.NewInt(0), num)
 }
 
 func TestGrandpaState_SetNextChange(t *testing.T) {
@@ -81,3 +85,40 @@ func TestGrandpaState_IncrementSetID(t *testing.T) {
 	require.NoError(t, err)
 	require.Equal(t, genesisSetID+1, setID)
 }
+
+func TestGrandpaState_GetSetIDByBlockNumber(t *testing.T) {
+	db := NewInMemoryDB(t)
+	gs, err := NewGrandpaStateFromGenesis(db, testAuths)
+	require.NoError(t, err)
+
+	testAuths2 := []*types.GrandpaVoter{
+		{Key: kr.Bob().Public().(*ed25519.PublicKey), ID: 0},
+	}
+
+	err = gs.SetNextChange(testAuths2, big.NewInt(100))
+	require.NoError(t, err)
+
+	setID, err := gs.GetSetIDByBlockNumber(big.NewInt(50))
+	require.NoError(t, err)
+	require.Equal(t, genesisSetID, setID)
+
+	setID, err = gs.GetSetIDByBlockNumber(big.NewInt(100))
+	require.NoError(t, err)
+	require.Equal(t, genesisSetID, setID)
+
+	setID, err = gs.GetSetIDByBlockNumber(big.NewInt(101))
+	require.NoError(t, err)
+	require.Equal(t, genesisSetID+1, setID)
+
+	err = gs.IncrementSetID()
+	require.NoError(t, err)
+
+	setID, err = gs.GetSetIDByBlockNumber(big.NewInt(100))
+	require.NoError(t, err)
+	require.Equal(t, genesisSetID, setID)
+
+	setID, err = gs.GetSetIDByBlockNumber(big.NewInt(101))
+	require.NoError(t, err)
+	require.Equal(t, genesisSetID+1, setID)
+
+}
diff --git a/dot/state/service.go b/dot/state/service.go
index 7f69cc3d7f..1c378c879e 100644
--- a/dot/state/service.go
+++ b/dot/state/service.go
@@ -218,6 +218,30 @@ func (s *Service) Rewind(toBlock int64) error {
 		return err
 	}
 
+	// update the current grandpa set ID
+	prevSetID, err := s.Grandpa.GetCurrentSetID()
+	if err != nil {
+		return err
+	}
+
+	newSetID, err := s.Grandpa.GetSetIDByBlockNumber(header.Number)
+	if err != nil {
+		return err
+	}
+
+	err = s.Grandpa.setCurrentSetID(newSetID)
+	if err != nil {
+		return err
+	}
+
+	// remove previously set grandpa changes, need to go up to prevSetID+1 in case of a scheduled change
+	for i := newSetID + 1; i <= prevSetID+1; i++ {
+		err = s.Grandpa.db.Del(setIDChangeKey(i))
+		if err != nil {
+			return err
+		}
+	}
+
 	return s.Base.StoreBestBlockHash(newHead)
 }
 
diff --git a/dot/state/service_test.go b/dot/state/service_test.go
index 72b4c94f7f..c16df057da 100644
--- a/dot/state/service_test.go
+++ b/dot/state/service_test.go
@@ -28,6 +28,7 @@ import (
 	"github.com/ChainSafe/gossamer/lib/trie"
 	"github.com/ChainSafe/gossamer/lib/utils"
 
+	"github.com/ChainSafe/chaindb"
 	log "github.com/ChainSafe/log15"
 	"github.com/stretchr/testify/require"
 )
@@ -229,6 +230,18 @@ func TestService_Rewind(t *testing.T) {
 	err = serv.Start()
 	require.NoError(t, err)
 
+	err = serv.Grandpa.setCurrentSetID(3)
+	require.NoError(t, err)
+
+	err = serv.Grandpa.setSetIDChangeAtBlock(1, big.NewInt(5))
+	require.NoError(t, err)
+
+	err = serv.Grandpa.setSetIDChangeAtBlock(2, big.NewInt(8))
+	require.NoError(t, err)
+
+	err = serv.Grandpa.setSetIDChangeAtBlock(3, big.NewInt(10))
+	require.NoError(t, err)
+
 	AddBlocksToState(t, serv.Block, 12)
 	err = serv.Rewind(6)
 	require.NoError(t, err)
@@ -236,6 +249,19 @@ func TestService_Rewind(t *testing.T) {
 	num, err := serv.Block.BestBlockNumber()
 	require.NoError(t, err)
 	require.Equal(t, big.NewInt(6), num)
+
+	setID, err := serv.Grandpa.GetCurrentSetID()
+	require.NoError(t, err)
+	require.Equal(t, uint64(1), setID)
+
+	_, err = serv.Grandpa.GetSetIDChange(1)
+	require.NoError(t, err)
+
+	_, err = serv.Grandpa.GetSetIDChange(2)
+	require.Equal(t, chaindb.ErrKeyNotFound, err)
+
+	_, err = serv.Grandpa.GetSetIDChange(3)
+	require.Equal(t, chaindb.ErrKeyNotFound, err)
 }
 
 func TestService_Import(t *testing.T) {
diff --git a/dot/sync/interface.go b/dot/sync/interface.go
index 83bd9aa2ca..4f284d19e6 100644
--- a/dot/sync/interface.go
+++ b/dot/sync/interface.go
@@ -69,8 +69,6 @@ type BlockProducer interface {
 
 // DigestHandler is the interface for the consensus digest handler
 type DigestHandler interface {
-	Start()
-	Stop()
 	HandleConsensusDigest(*types.ConsensusDigest, *types.Header) error
 }
 
diff --git a/dot/sync/syncer.go b/dot/sync/syncer.go
index 380b5b9d4c..88497b49a4 100644
--- a/dot/sync/syncer.go
+++ b/dot/sync/syncer.go
@@ -207,6 +207,11 @@ func (s *Service) ProcessBlockData(data []*types.BlockData) (int, error) {
 				return i, err
 			}
 
+			// handle consensus digests for authority changes
+			if s.digestHandler != nil {
+				s.handleDigests(header)
+			}
+
 			if bd.Justification != nil && bd.Justification.Exists() {
 				logger.Debug("handling Justification...", "number", header.Number, "hash", bd.Hash)
 				s.handleJustification(header, bd.Justification.Value())
@@ -427,13 +432,13 @@ func (s *Service) handleDigests(header *types.Header) {
 		if d.Type() == types.ConsensusDigestType {
 			cd, ok := d.(*types.ConsensusDigest)
 			if !ok {
-				logger.Error("handleDigests", "index", i, "error", "cannot cast invalid consensus digest item")
+				logger.Error("handleDigests", "block number", header.Number, "index", i, "error", "cannot cast invalid consensus digest item")
 				continue
 			}
 
 			err := s.digestHandler.HandleConsensusDigest(cd, header)
 			if err != nil {
-				logger.Error("handleDigests", "index", i, "digest", cd, "error", err)
+				logger.Error("handleDigests", "block number", header.Number, "index", i, "digest", cd, "error", err)
 			}
 		}
 	}
diff --git a/dot/telemetry/telemetry.go b/dot/telemetry/telemetry.go
index 72ef3d9e05..9c12659c42 100644
--- a/dot/telemetry/telemetry.go
+++ b/dot/telemetry/telemetry.go
@@ -114,11 +114,7 @@ func (h *Handler) SendBlockImport(bestHash string, height *big.Int) {
 
 func (h *Handler) sendTelemtry() {
 	for _, c := range h.wsConn {
-		err := c.WriteMessage(websocket.TextMessage, h.buf.Bytes())
-		if err != nil {
-			// TODO (ed) determine how to handle this error
-			fmt.Printf("ERROR connecting to telemetry %v\n", err)
-		}
+		_ = c.WriteMessage(websocket.TextMessage, h.buf.Bytes())
 	}
 	h.buf.Reset()
 }
diff --git a/lib/grandpa/errors.go b/lib/grandpa/errors.go
index ff2df5fcc2..1d51970d0e 100644
--- a/lib/grandpa/errors.go
+++ b/lib/grandpa/errors.go
@@ -22,79 +22,82 @@ import (
 	"github.com/ChainSafe/gossamer/lib/blocktree"
 )
 
-// ErrNilBlockState is returned when BlockState is nil
-var ErrNilBlockState = errors.New("cannot have nil BlockState")
+//nolint
+var (
+	ErrNilBlockState    = errors.New("cannot have nil BlockState")
+	ErrNilGrandpaState  = errors.New("cannot have nil GrandpaState")
+	ErrNilDigestHandler = errors.New("cannot have nil DigestHandler")
+	ErrNilKeypair       = errors.New("cannot have nil keypair")
+	ErrNilNetwork       = errors.New("cannot have nil Network")
 
-// ErrNilGrandpaState is returned when GrandpaState is nil
-var ErrNilGrandpaState = errors.New("cannot have nil GrandpaState")
+	// ErrBlockDoesNotExist is returned when trying to validate a vote for a block that doesn't exist
+	ErrBlockDoesNotExist = errors.New("block does not exist")
 
-// ErrNilDigestHandler is returned when DigestHandler is nil
-var ErrNilDigestHandler = errors.New("cannot have nil DigestHandler")
+	// ErrInvalidSignature is returned when trying to validate a vote message with an invalid signature
+	ErrInvalidSignature = errors.New("signature is not valid")
 
-// ErrNilKeypair is returned when the keypair is nil
-var ErrNilKeypair = errors.New("cannot have nil keypair")
+	// ErrSetIDMismatch is returned when trying to validate a vote message with an invalid voter set ID, or when receiving a catch up message with a different set ID
+	ErrSetIDMismatch = errors.New("set IDs do not match")
 
-// ErrNilNetwork is returned when the Network is nil
-var ErrNilNetwork = errors.New("cannot have nil Network")
+	// ErrRoundMismatch is returned when trying to validate a vote message that isn't for the current round
+	ErrRoundMismatch = errors.New("rounds do not match")
 
-// ErrBlockDoesNotExist is returned when trying to validate a vote for a block that doesn't exist
-var ErrBlockDoesNotExist = errors.New("block does not exist")
+	// ErrEquivocation is returned when trying to validate a vote for that is equivocatory
+	ErrEquivocation = errors.New("vote is equivocatory")
 
-// ErrInvalidSignature is returned when trying to validate a vote message with an invalid signature
-var ErrInvalidSignature = errors.New("signature is not valid")
+	// ErrVoterNotFound is returned when trying to validate a vote for a voter that isn't in the voter set
+	ErrVoterNotFound = errors.New("voter is not in voter set")
 
-// ErrSetIDMismatch is returned when trying to validate a vote message with an invalid voter set ID, or when receiving a catch up message with a different set ID
-var ErrSetIDMismatch = errors.New("set IDs do not match")
+	// ErrDescendantNotFound is returned when trying to validate a vote for a block that isn't a descendant of the last finalised block
+	ErrDescendantNotFound = blocktree.ErrDescendantNotFound
 
-// ErrRoundMismatch is returned when trying to validate a vote message that isn't for the current round
-var ErrRoundMismatch = errors.New("rounds do not match")
+	// ErrNoPreVotedBlock is returned when there is no pre-voted block for a round.
+	// this can only happen in the case of > 1/3 byzantine nodes (ie > 1/3 nodes equivocate or don't submit valid votes)
+	ErrNoPreVotedBlock = errors.New("cannot get pre-voted block")
 
-// ErrEquivocation is returned when trying to validate a vote for that is equivocatory
-var ErrEquivocation = errors.New("vote is equivocatory")
+	// ErrNoGHOST is returned when there is no GHOST. the only case where this could happen is if there are no votes
+	// at all, so it shouldn't ever happen.
+	ErrNoGHOST = errors.New("cannot determine grandpa-GHOST")
 
-// ErrVoterNotFound is returned when trying to validate a vote for a voter that isn't in the voter set
-var ErrVoterNotFound = errors.New("voter is not in voter set")
+	// ErrCannotDecodeSubround is returned when a subround value cannot be decoded
+	ErrCannotDecodeSubround = errors.New("cannot decode invalid subround value")
 
-// ErrDescendantNotFound is returned when trying to validate a vote for a block that isn't a descendant of the last finalised block
-var ErrDescendantNotFound = blocktree.ErrDescendantNotFound
+	// ErrInvalidMessageType is returned when a network.Message cannot be decoded
+	ErrInvalidMessageType = errors.New("cannot decode invalid message type")
 
-// ErrNoPreVotedBlock is returned when there is no pre-voted block for a round.
-// this can only happen in the case of > 1/3 byzantine nodes (ie > 1/3 nodes equivocate or don't submit valid votes)
-var ErrNoPreVotedBlock = errors.New("cannot get pre-voted block")
+	// ErrNotCommitMessage is returned when calling GetFinalizedHash on a message that isn't a CommitMessage
+	ErrNotCommitMessage = errors.New("cannot get finalised hash from VoteMessage")
 
-// ErrNoGHOST is returned when there is no GHOST. the only case where this could happen is if there are no votes
-// at all, so it shouldn't ever happen.
-var ErrNoGHOST = errors.New("cannot determine grandpa-GHOST")
+	// ErrNoJustification is returned when no justification can be found for a block, ie. it has not been finalised
+	ErrNoJustification = errors.New("no justification found for block")
 
-// ErrCannotDecodeSubround is returned when a subround value cannot be decoded
-var ErrCannotDecodeSubround = errors.New("cannot decode invalid subround value")
+	// ErrMinVotesNotMet is returned when the number of votes is less than the required minimum in a Justification
+	ErrMinVotesNotMet = errors.New("minimum number of votes not met in a Justification")
 
-// ErrInvalidMessageType is returned when a network.Message cannot be decoded
-var ErrInvalidMessageType = errors.New("cannot decode invalid message type")
+	// ErrInvalidCatchUpRound is returned when a catch-up message is received with an invalid round
+	ErrInvalidCatchUpRound = errors.New("catch up request is for future round")
 
-// ErrNotCommitMessage is returned when calling GetFinalizedHash on a message that isn't a CommitMessage
-var ErrNotCommitMessage = errors.New("cannot get finalised hash from VoteMessage")
+	// ErrInvalidCatchUpResponseRound is returned when a catch-up response is received with an invalid round
+	ErrInvalidCatchUpResponseRound = errors.New("catch up response is not for previous round")
 
-// ErrNoJustification is returned when no justification can be found for a block, ie. it has not been finalised
-var ErrNoJustification = errors.New("no justification found for block")
+	// ErrGHOSTlessCatchUp is returned when a catch up response does not contain a valid grandpa-GHOST (ie. finalised block)
+	ErrGHOSTlessCatchUp = errors.New("catch up response does not contain grandpa-GHOST")
 
-// ErrMinVotesNotMet is returned when the number of votes is less than the required minimum in a Justification
-var ErrMinVotesNotMet = errors.New("minimum number of votes not met in a Justification")
+	// ErrCatchUpResponseNotCompletable is returned when the round represented by the catch up response is not completable
+	ErrCatchUpResponseNotCompletable = errors.New("catch up response is not completable")
 
-// ErrInvalidCatchUpRound is returned when a catch-up message is received with an invalid round
-var ErrInvalidCatchUpRound = errors.New("catch up request is for future round")
+	// ErrServicePaused is returned if the service is paused and waiting for catch up messages
+	ErrServicePaused = errors.New("service is paused")
 
-// ErrInvalidCatchUpResponseRound is returned when a catch-up response is received with an invalid round
-var ErrInvalidCatchUpResponseRound = errors.New("catch up response is not for previous round")
+	// ErrPrecommitSignatureMismatch is returned when the number of precommits and signatures in a CommitMessage do not match
+	ErrPrecommitSignatureMismatch = errors.New("number of precommits does not match number of signatures")
 
-// ErrGHOSTlessCatchUp is returned when a catch up response does not contain a valid grandpa-GHOST (ie. finalised block)
-var ErrGHOSTlessCatchUp = errors.New("catch up response does not contain grandpa-GHOST")
+	// ErrJustificationHashMismatch is returned when a precommit hash within a justification does not match the justification hash
+	ErrJustificationHashMismatch = errors.New("precommit hash does not match justification hash")
 
-// ErrCatchUpResponseNotCompletable is returned when the round represented by the catch up response is not completable
-var ErrCatchUpResponseNotCompletable = errors.New("catch up response is not completable")
+	// ErrJustificationNumberMismatch is returned when a precommit number within a justification does not match the justification number
+	ErrJustificationNumberMismatch = errors.New("precommit number does not match justification number")
 
-// ErrServicePaused is returned if the service is paused and waiting for catch up messages
-var ErrServicePaused = errors.New("service is paused")
-
-// ErrPrecommitSignatureMismatch is returned when the number of precommits and signatures in a CommitMessage do not match
-var ErrPrecommitSignatureMismatch = errors.New("number of precommits does not match number of signatures")
+	// ErrAuthorityNotInSet is returned when a precommit within a justification is signed by a key not in the authority set
+	ErrAuthorityNotInSet = errors.New("authority is not in set")
+)
diff --git a/lib/grandpa/grandpa.go b/lib/grandpa/grandpa.go
index 43181da1b5..4c0a1140d8 100644
--- a/lib/grandpa/grandpa.go
+++ b/lib/grandpa/grandpa.go
@@ -172,6 +172,12 @@ func (s *Service) Start() error {
 		return err
 	}
 
+	// if we're not an authority, we don't need to worry about the voting process.
+	// the grandpa service is only used to verify incoming block justifications
+	if !s.authority {
+		return nil
+	}
+
 	go func() {
 		err := s.initiate()
 		if err != nil {
@@ -262,21 +268,18 @@ func (s *Service) initiate() error {
 		s.tracker.stop()
 	}
 
-	if s.authority {
-		s.prevotes = make(map[ed25519.PublicKeyBytes]*Vote)
-		s.precommits = make(map[ed25519.PublicKeyBytes]*Vote)
-		s.pcJustifications = make(map[common.Hash][]*SignedPrecommit)
-		s.pvEquivocations = make(map[ed25519.PublicKeyBytes][]*Vote)
-		s.pcEquivocations = make(map[ed25519.PublicKeyBytes][]*Vote)
-		s.justification = make(map[uint64][]*SignedPrecommit)
-
-		s.tracker, err = newTracker(s.blockState, s.in)
-		if err != nil {
-			return err
-		}
-		s.tracker.start()
-		logger.Trace("started message tracker")
+	s.prevotes = make(map[ed25519.PublicKeyBytes]*Vote)
+	s.precommits = make(map[ed25519.PublicKeyBytes]*Vote)
+	s.pcJustifications = make(map[common.Hash][]*SignedPrecommit)
+	s.pvEquivocations = make(map[ed25519.PublicKeyBytes][]*Vote)
+	s.pcEquivocations = make(map[ed25519.PublicKeyBytes][]*Vote)
+	s.justification = make(map[uint64][]*SignedPrecommit)
+	s.tracker, err = newTracker(s.blockState, s.in)
+	if err != nil {
+		return err
 	}
+	s.tracker.start()
+	logger.Trace("started message tracker")
 	s.roundLock.Unlock()
 
 	// don't begin grandpa until we are at block 1
@@ -293,23 +296,15 @@ func (s *Service) initiate() error {
 	}
 
 	for {
-		if s.authority {
-			err = s.playGrandpaRound()
-			if err == ErrServicePaused {
-				// wait for service to un-pause
-				<-s.resumed
-				err = s.initiate()
-			}
+		err = s.playGrandpaRound()
+		if err == ErrServicePaused {
+			// wait for service to un-pause
+			<-s.resumed
+			err = s.initiate()
+		}
 
-			if err != nil {
-				return err
-			}
-		} else {
-			// if not a grandpa authority, wait for a block to be finalised in the current round
-			err = s.waitForFinalizedBlock()
-			if err != nil {
-				return err
-			}
+		if err != nil {
+			return err
 		}
 
 		if s.ctx.Err() != nil {
@@ -323,36 +318,6 @@ func (s *Service) initiate() error {
 	}
 }
 
-func (s *Service) waitForFinalizedBlock() error {
-	ch := make(chan *types.Header)
-	id, err := s.blockState.RegisterFinalizedChannel(ch)
-	if err != nil {
-		return err
-	}
-
-	defer s.blockState.UnregisterFinalizedChannel(id)
-
-	for {
-		done := false
-
-		select {
-		case header := <-ch:
-			if header != nil && header.Number.Int64() >= s.head.Number.Int64() {
-				s.head = header
-				done = true
-			}
-		case <-s.ctx.Done():
-			return nil
-		}
-
-		if done {
-			break
-		}
-	}
-
-	return nil
-}
-
 func (s *Service) waitForFirstBlock() error {
 	ch := make(chan *types.Block)
 	id, err := s.blockState.RegisterImportedChannel(ch)
diff --git a/lib/grandpa/message_handler.go b/lib/grandpa/message_handler.go
index be2344bf49..95d0778b68 100644
--- a/lib/grandpa/message_handler.go
+++ b/lib/grandpa/message_handler.go
@@ -18,11 +18,12 @@ package grandpa
 
 import (
 	"bytes"
+	"fmt"
 	"math/big"
 	"reflect"
-	"sync"
 
 	"github.com/ChainSafe/gossamer/dot/network"
+	"github.com/ChainSafe/gossamer/dot/types"
 	"github.com/ChainSafe/gossamer/lib/common"
 	"github.com/ChainSafe/gossamer/lib/crypto/ed25519"
 	"github.com/ChainSafe/gossamer/lib/scale"
@@ -32,17 +33,15 @@ import (
 
 // MessageHandler handles GRANDPA consensus messages
 type MessageHandler struct {
-	grandpa         *Service
-	blockState      BlockState
-	blockNumToSetID *sync.Map // map[uint32]uint64
+	grandpa    *Service
+	blockState BlockState
 }
 
 // NewMessageHandler returns a new MessageHandler
 func NewMessageHandler(grandpa *Service, blockState BlockState) *MessageHandler {
 	return &MessageHandler{
-		grandpa:         grandpa,
-		blockState:      blockState,
-		blockNumToSetID: new(sync.Map),
+		grandpa:    grandpa,
+		blockState: blockState,
 	}
 }
 
@@ -60,7 +59,7 @@ func (h *MessageHandler) handleMessage(from peer.ID, msg *ConsensusMessage) (net
 		return nil, err
 	}
 
-	logger.Debug("handling grandpa message", "msg", m)
+	logger.Trace("handling grandpa message", "msg", m)
 
 	switch m.Type() {
 	case voteType:
@@ -101,15 +100,11 @@ func (h *MessageHandler) handleNeighbourMessage(from peer.ID, msg *NeighbourMess
 		return err
 	}
 
+	// ignore neighbour messages where our best finalised number is greater than theirs
 	if uint32(currFinalized.Number.Int64()) >= msg.Number {
 		return nil
 	}
 
-	// TODO: make linter british
-	logger.Debug("got neighbour message", "number", msg.Number, "set id", msg.SetID, "round", msg.Round)
-	h.blockNumToSetID.Store(msg.Number, msg.SetID)
-	h.grandpa.network.SendJustificationRequest(from, msg.Number)
-
 	// TODO; determine if there is some reason we don't receive justifications in responses near the head (usually),
 	// and remove the following code if it's fixed.
 	head, err := h.grandpa.blockState.BestBlockNumber()
@@ -117,6 +112,14 @@ func (h *MessageHandler) handleNeighbourMessage(from peer.ID, msg *NeighbourMess
 		return err
 	}
 
+	// ignore neighbour messages that are above our head
+	if int64(msg.Number) > head.Int64() {
+		return nil
+	}
+
+	logger.Debug("got neighbour message", "number", msg.Number, "set id", msg.SetID, "round", msg.Round)
+	h.grandpa.network.SendJustificationRequest(from, msg.Number)
+
 	// don't finalise too close to head, until we add justification request + verification functionality.
 	// this prevents us from marking the wrong block as final and getting stuck on the wrong chain
 	if uint32(head.Int64())-4 < msg.Number {
@@ -444,19 +447,48 @@ func (s *Service) VerifyBlockJustification(justification []byte) error {
 		return err
 	}
 
-	logger.Debug("verifiying justification", "round", fj.Round, "hash", fj.Commit.Hash, "number", fj.Commit.Number, "sig count", len(fj.Commit.Precommits))
+	setID, err := s.grandpaState.GetSetIDByBlockNumber(big.NewInt(int64(fj.Commit.Number)))
+	if err != nil {
+		return fmt.Errorf("cannot get set ID from block number: %w", err)
+	}
+
+	auths, err := s.grandpaState.GetAuthorities(setID)
+	if err != nil {
+		return fmt.Errorf("cannot get authorities for set ID: %w", err)
+	}
+
+	logger.Debug("verifying justification",
+		"setID", setID,
+		"round", fj.Round,
+		"hash", fj.Commit.Hash,
+		"number", fj.Commit.Number,
+		"sig count", len(fj.Commit.Precommits),
+	)
+
+	if len(fj.Commit.Precommits) < (2 * len(auths) / 3) {
+		return ErrMinVotesNotMet
+	}
 
 	for _, just := range fj.Commit.Precommits {
-		// TODO: when catch up is done, we should know all the setIDs
-		s, has := s.messageHandler.blockNumToSetID.Load(fj.Commit.Number)
-		if !has {
-			continue
+		if just.Vote.hash != fj.Commit.Hash {
+			return ErrJustificationHashMismatch
 		}
 
-		setID := s.(uint64)
+		if just.Vote.number != fj.Commit.Number {
+			return ErrJustificationNumberMismatch
+		}
+
+		pk, err := ed25519.NewPublicKey(just.AuthorityID[:])
+		if err != nil {
+			return err
+		}
+
+		ok := isInAuthSet(pk, auths)
+		if !ok {
+			return ErrAuthorityNotInSet
+		}
 
 		// verify signature for each precommit
-		// TODO: verify authority is in set; this requires updating catch-up to get the right set
 		msg, err := scale.Encode(&FullVote{
 			Stage: precommit,
 			Vote:  just.Vote,
@@ -467,12 +499,7 @@ func (s *Service) VerifyBlockJustification(justification []byte) error {
 			return err
 		}
 
-		pk, err := ed25519.NewPublicKey(just.AuthorityID[:])
-		if err != nil {
-			return err
-		}
-
-		ok, err := pk.Verify(msg, just.Signature[:])
+		ok, err = pk.Verify(msg, just.Signature[:])
 		if err != nil {
 			return err
 		}
@@ -484,3 +511,13 @@ func (s *Service) VerifyBlockJustification(justification []byte) error {
 
 	return nil
 }
+
+func isInAuthSet(auth *ed25519.PublicKey, set []*types.GrandpaVoter) bool {
+	for _, a := range set {
+		if bytes.Equal(a.Key.Encode(), auth.Encode()) {
+			return true
+		}
+	}
+
+	return false
+}
diff --git a/lib/grandpa/message_handler_test.go b/lib/grandpa/message_handler_test.go
index c94d25573a..05a60547d1 100644
--- a/lib/grandpa/message_handler_test.go
+++ b/lib/grandpa/message_handler_test.go
@@ -17,7 +17,6 @@
 package grandpa
 
 import (
-	"errors"
 	"math/big"
 	"testing"
 	"time"
@@ -29,7 +28,6 @@ import (
 	"github.com/ChainSafe/gossamer/lib/keystore"
 	"github.com/ChainSafe/gossamer/lib/scale"
 
-	"github.com/ChainSafe/chaindb"
 	"github.com/stretchr/testify/require"
 )
 
@@ -200,7 +198,7 @@ func TestMessageHandler_NeighbourMessage(t *testing.T) {
 	require.NoError(t, err)
 
 	_, err = h.handleMessage("", cm)
-	require.True(t, errors.Is(err, chaindb.ErrKeyNotFound))
+	require.NoError(t, err)
 
 	block := &types.Block{
 		Header: &types.Header{
@@ -507,12 +505,75 @@ func TestMessageHandler_HandleCatchUpResponse(t *testing.T) {
 }
 
 func TestMessageHandler_VerifyBlockJustification(t *testing.T) {
-	setID := uint64(450)
-	// data received from network
-	data := common.MustHexToBytes("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+	auths := []*types.GrandpaVoter{
+		{
+			Key: kr.Alice().Public().(*ed25519.PublicKey),
+		},
+		{
+			Key: kr.Bob().Public().(*ed25519.PublicKey),
+		},
+		{
+			Key: kr.Charlie().Public().(*ed25519.PublicKey),
+		},
+	}
+
+	gs, st := newTestService(t)
+	err := st.Grandpa.SetNextChange(auths, big.NewInt(1))
+	require.NoError(t, err)
+
+	err = st.Grandpa.IncrementSetID()
+	require.NoError(t, err)
+
+	setID, err := st.Grandpa.GetCurrentSetID()
+	require.NoError(t, err)
+	require.Equal(t, uint64(1), setID)
+
+	round := uint64(2)
+	number := uint32(2)
+	precommits := buildTestJustification(t, 2, round, setID, kr, precommit)
+	just := newJustification(round, testHash, number, precommits)
+	data, err := just.Encode()
+	require.NoError(t, err)
+	err = gs.VerifyBlockJustification(data)
+	require.NoError(t, err)
+
+	// use wrong hash, shouldn't verify
+	just = newJustification(round, common.Hash{}, number, precommits)
+	data, err = just.Encode()
+	require.NoError(t, err)
+	err = gs.VerifyBlockJustification(data)
+	require.NotNil(t, err)
+	require.Equal(t, ErrJustificationHashMismatch, err)
+
+	// use wrong number, shouldn't verify
+	just = newJustification(round, testHash, number+1, precommits)
+	data, err = just.Encode()
+	require.NoError(t, err)
+	err = gs.VerifyBlockJustification(data)
+	require.NotNil(t, err)
+	require.Equal(t, ErrJustificationNumberMismatch, err)
+
+	// use wrong round, shouldn't verify
+	just = newJustification(round+1, testHash, number, precommits)
+	data, err = just.Encode()
+	require.NoError(t, err)
+	err = gs.VerifyBlockJustification(data)
+	require.NotNil(t, err)
+	require.Equal(t, ErrInvalidSignature, err)
+
+	// add authority not in set, shouldn't verify
+	precommits = buildTestJustification(t, len(auths)+1, round, setID, kr, precommit)
+	just = newJustification(round, testHash, number, precommits)
+	data, err = just.Encode()
+	require.NoError(t, err)
+	err = gs.VerifyBlockJustification(data)
+	require.Equal(t, ErrAuthorityNotInSet, err)
 
-	gs, _ := newTestService(t)
-	gs.messageHandler.blockNumToSetID.Store(uint32(4635975), setID)
-	err := gs.VerifyBlockJustification(data)
+	// not enough signatures, shouldn't verify
+	precommits = buildTestJustification(t, 1, round, setID, kr, precommit)
+	just = newJustification(round, testHash, number, precommits)
+	data, err = just.Encode()
 	require.NoError(t, err)
+	err = gs.VerifyBlockJustification(data)
+	require.Equal(t, ErrMinVotesNotMet, err)
 }
diff --git a/lib/grandpa/state.go b/lib/grandpa/state.go
index f3d88fc18d..c9051d460f 100644
--- a/lib/grandpa/state.go
+++ b/lib/grandpa/state.go
@@ -57,6 +57,7 @@ type BlockState interface {
 type GrandpaState interface { //nolint
 	GetCurrentSetID() (uint64, error)
 	GetAuthorities(setID uint64) ([]*types.GrandpaVoter, error)
+	GetSetIDByBlockNumber(num *big.Int) (uint64, error)
 }
 
 // DigestHandler is the interface required by GRANDPA for the digest handler