diff --git a/planning/mission_planner/include/mission_planner/mission_planner_base.hpp b/planning/mission_planner/include/mission_planner/mission_planner_base.hpp
index c7c56479f3f2f..3aa0b5c39daa2 100644
--- a/planning/mission_planner/include/mission_planner/mission_planner_base.hpp
+++ b/planning/mission_planner/include/mission_planner/mission_planner_base.hpp
@@ -15,6 +15,9 @@
 #ifndef MISSION_PLANNER__MISSION_PLANNER_BASE_HPP_
 #define MISSION_PLANNER__MISSION_PLANNER_BASE_HPP_
 
+#include <std_srvs/srv/trigger.hpp>
+
+#include <memory>
 #include <string>
 #include <vector>
 
@@ -61,6 +64,11 @@ class MissionPlanner : public rclcpp::Node
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
 
+  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr alive_service_;
+  void handleAliveService(
+    const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
+    std::shared_ptr<std_srvs::srv::Trigger::Response> response);
+
   bool getEgoVehiclePose(geometry_msgs::msg::PoseStamped * ego_vehicle_pose);
   void goalPoseCallback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr goal_msg_ptr);
   void checkpointCallback(const geometry_msgs::msg::PoseStamped::ConstSharedPtr checkpoint_msg_ptr);
diff --git a/planning/mission_planner/lib/mission_planner_base.cpp b/planning/mission_planner/lib/mission_planner_base.cpp
index 5a1551a156784..7a9cf219ecb58 100644
--- a/planning/mission_planner/lib/mission_planner_base.cpp
+++ b/planning/mission_planner/lib/mission_planner_base.cpp
@@ -47,6 +47,11 @@ MissionPlanner::MissionPlanner(
     create_publisher<autoware_auto_planning_msgs::msg::HADMapRoute>("output/route", durable_qos);
   marker_publisher_ =
     create_publisher<visualization_msgs::msg::MarkerArray>("debug/route_marker", durable_qos);
+
+  alive_service_ = create_service<std_srvs::srv::Trigger>(
+    "/planning/mission_planner/alive",
+    std::bind(
+      &MissionPlanner::handleAliveService, this, std::placeholders::_1, std::placeholders::_2));
 }
 
 bool MissionPlanner::getEgoVehiclePose(geometry_msgs::msg::PoseStamped * ego_vehicle_pose)
@@ -134,6 +139,15 @@ void MissionPlanner::checkpointCallback(
   publishRoute(route);
 }
 
+void MissionPlanner::handleAliveService(
+  const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
+  std::shared_ptr<std_srvs::srv::Trigger::Response> response)
+{
+  (void)request;
+  response->success = true;
+  response->message = "MissionPlanner is alive and running.";
+}
+
 void MissionPlanner::publishRoute(const autoware_auto_planning_msgs::msg::HADMapRoute & route) const
 {
   if (!route.segments.empty()) {
diff --git a/planning/mission_planner/package.xml b/planning/mission_planner/package.xml
index f42875b759788..68d0d6fe1c3e8 100644
--- a/planning/mission_planner/package.xml
+++ b/planning/mission_planner/package.xml
@@ -19,6 +19,7 @@
   <depend>route_handler</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
+  <depend>std_srvs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>