diff --git a/launch_ros/launch_ros/actions/lifecycle_node.py b/launch_ros/launch_ros/actions/lifecycle_node.py
index dd5cb46b..1bc933ae 100644
--- a/launch_ros/launch_ros/actions/lifecycle_node.py
+++ b/launch_ros/launch_ros/actions/lifecycle_node.py
@@ -23,6 +23,9 @@
 import launch
 from launch import SomeSubstitutionsType
 from launch.action import Action
+from launch.frontend import Entity
+from launch.frontend import expose_action
+from launch.frontend import Parser
 import launch.logging
 
 import lifecycle_msgs.msg
@@ -35,6 +38,7 @@
 from ..ros_adapters import get_ros_node
 
 
+@expose_action('lifecycle_node')
 class LifecycleNode(Node):
     """Action that executes a ROS lifecycle node."""
 
@@ -78,6 +82,13 @@ def __init__(
         self.__current_state = \
             ChangeState.valid_states[lifecycle_msgs.msg.State.PRIMARY_STATE_UNKNOWN]
 
+    @classmethod
+    def parse(cls, entity: Entity, parser: Parser):
+        """Return `LifecycleNode` action and kwargs for constructing it."""
+        _, kwargs = super().parse(entity, parser)
+
+        return cls, kwargs
+
     def _on_transition_event(self, context, msg):
         try:
             event = StateTransition(action=self, msg=msg)