diff --git a/rclpy/rclpy/lifecycle/node.py b/rclpy/rclpy/lifecycle/node.py
index 596687621..3458a176c 100644
--- a/rclpy/rclpy/lifecycle/node.py
+++ b/rclpy/rclpy/lifecycle/node.py
@@ -126,9 +126,11 @@ def __init__(
             # this doesn't only checks, but also imports some stuff we need later
             check_is_valid_srv_type(srv_type)
 
+        clock = self.get_clock()
+
         with self.handle:
             self._state_machine: _rclpy.LifecycleStateMachine = _rclpy.LifecycleStateMachine(
-                self.handle, enable_communication_interface)
+                self.handle, clock.handle, enable_communication_interface)
         if enable_communication_interface:
             self._service_change_state = Service(
                 self._state_machine.service_change_state,
diff --git a/rclpy/src/rclpy/lifecycle.cpp b/rclpy/src/rclpy/lifecycle.cpp
index e9f0a79a9..2f1ad98f5 100644
--- a/rclpy/src/rclpy/lifecycle.cpp
+++ b/rclpy/src/rclpy/lifecycle.cpp
@@ -34,6 +34,7 @@
 #include <tuple>
 #include <vector>
 
+#include "clock.hpp"
 #include "destroyable.hpp"
 #include "exceptions.hpp"
 #include "lifecycle.hpp"
@@ -49,8 +50,8 @@ class LifecycleStateMachine : public rclpy::Destroyable,
 {
 public:
   LifecycleStateMachine(
-    rclpy::Node & node, bool enable_com_interface)
-  : node_(node)
+    rclpy::Node & node, rclpy::Clock & clock, bool enable_com_interface)
+  : node_(node), clock_(clock)
   {
     state_machine_ = std::shared_ptr<rcl_lifecycle_state_machine_t>(
       new rcl_lifecycle_state_machine_t(rcl_lifecycle_get_zero_initialized_state_machine()),
@@ -70,6 +71,7 @@ class LifecycleStateMachine : public rclpy::Destroyable,
     rcl_ret_t ret = rcl_lifecycle_state_machine_init(
       state_machine_.get(),
       node_.rcl_ptr(),
+      clock_.rcl_ptr(),
       ROSIDL_GET_MSG_TYPE_SUPPORT(lifecycle_msgs, msg, TransitionEvent),
       ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, ChangeState),
       ROSIDL_GET_SRV_TYPE_SUPPORT(lifecycle_msgs, srv, GetState),
@@ -268,6 +270,7 @@ class LifecycleStateMachine : public rclpy::Destroyable,
 
 private:
   rclpy::Node node_;
+  rclpy::Clock clock_;
   std::shared_ptr<rclpy::Service> srv_change_state_;
   std::shared_ptr<rclpy::Service> srv_get_state_;
   std::shared_ptr<rclpy::Service> srv_get_available_states_;
@@ -307,7 +310,7 @@ define_lifecycle_api(py::module m)
 {
   py::class_<LifecycleStateMachine, Destroyable, std::shared_ptr<LifecycleStateMachine>>(
     m, "LifecycleStateMachine")
-  .def(py::init<Node &, bool>())
+  .def(py::init<Node &, Clock &, bool>())
   .def_property_readonly(
     "initialized", &LifecycleStateMachine::is_initialized,
     "Check if state machine is initialized.")