diff --git a/udp_driver/include/udp_driver/udp_socket.hpp b/udp_driver/include/udp_driver/udp_socket.hpp
index 14a84fe6..1af138ca 100644
--- a/udp_driver/include/udp_driver/udp_socket.hpp
+++ b/udp_driver/include/udp_driver/udp_socket.hpp
@@ -59,6 +59,7 @@ class UdpSocket
   void close();
   bool isOpen() const;
   void bind();
+  void joinMulticast(std::string & multicast_addr);
 
   /*
    * Blocking Send Operation
diff --git a/udp_driver/params/example_udp_multicast_params.yml b/udp_driver/params/example_udp_multicast_params.yml
new file mode 100644
index 00000000..2d569572
--- /dev/null
+++ b/udp_driver/params/example_udp_multicast_params.yml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    ip: "239.255.0.1"
+    port: 22017
diff --git a/udp_driver/src/udp_receiver_node.cpp b/udp_driver/src/udp_receiver_node.cpp
index 2a542f82..13229699 100644
--- a/udp_driver/src/udp_receiver_node.cpp
+++ b/udp_driver/src/udp_receiver_node.cpp
@@ -62,6 +62,7 @@ LNI::CallbackReturn UdpReceiverNode::on_configure(const lc::State & state)
     m_udp_driver->init_receiver(m_ip, m_port);
     m_udp_driver->receiver()->open();
     m_udp_driver->receiver()->bind();
+    m_udp_driver->receiver()->joinMulticast(m_ip);
     m_udp_driver->receiver()->asyncReceive(
       std::bind(&UdpReceiverNode::receiver_callback, this, std::placeholders::_1));
   } catch (const std::exception & ex) {
diff --git a/udp_driver/src/udp_socket.cpp b/udp_driver/src/udp_socket.cpp
index 619c7be0..74375486 100644
--- a/udp_driver/src/udp_socket.cpp
+++ b/udp_driver/src/udp_socket.cpp
@@ -192,5 +192,18 @@ void UdpSocket::bind()
   m_udp_socket.bind(m_host_endpoint);
 }
 
+void UdpSocket::joinMulticast(std::string & multicast_addr)
+{
+  if (address::from_string(multicast_addr).is_v4() &&
+    address::from_string(multicast_addr).to_v4().is_multicast())
+  {
+    m_udp_socket.set_option(
+      asio::ip::multicast::join_group(address::from_string(multicast_addr).to_v4()));
+    RCLCPP_INFO(
+      rclcpp::get_logger("UdpSocket::multicast"),
+      "Joined multicast group: %s", multicast_addr.c_str());
+  }
+}
+
 }  // namespace udp_driver
 }  // namespace drivers