diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index f4651c66a..734418f4f 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -22,10 +22,15 @@ find_package(rcutils REQUIRED)
 find_package(rosidl_typesupport_fastrtps_c REQUIRED)
 find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
 find_package(rmw REQUIRED)
+find_package(rmw_security_common REQUIRED)
 find_package(rmw_test_fixture REQUIRED)
 find_package(tracetools REQUIRED)
 find_package(zenoh_cpp_vendor REQUIRED)
 
+if(SECURITY)
+  set(HAVE_SECURITY 1)
+endif()
+
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp
   src/detail/cdr.cpp
@@ -70,6 +75,7 @@ target_link_libraries(rmw_zenoh_cpp
     rosidl_typesupport_fastrtps_c::rosidl_typesupport_fastrtps_c
     rosidl_typesupport_fastrtps_cpp::rosidl_typesupport_fastrtps_cpp
     rmw::rmw
+    rmw_security_common::rmw_security_common_library
     tracetools::tracetools
     zenohcxx::zenohc
 )
@@ -81,6 +87,7 @@ target_compile_definitions(rmw_zenoh_cpp
     RMW_VERSION_MAJOR=${rmw_VERSION_MAJOR}
     RMW_VERSION_MINOR=${rmw_VERSION_MINOR}
     RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
+    HAVE_SECURITY=${HAVE_SECURITY}
 )
 
 add_library(rmw_zenoh_cpp_test_fixture SHARED
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index 1fb4d971f..f2aac3c52 100644
--- a/rmw_zenoh_cpp/package.xml
+++ b/rmw_zenoh_cpp/package.xml
@@ -25,6 +25,7 @@
   <depend>rosidl_typesupport_fastrtps_c</depend>
   <depend>rosidl_typesupport_fastrtps_cpp</depend>
   <depend>rmw</depend>
+  <depend>rmw_security_common</depend>
   <depend>rmw_test_fixture</depend>
   <depend>tracetools</depend>
 
diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
index 3e3d0b728..2fb58c95e 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
@@ -37,6 +37,7 @@
 
 #include "rcpputils/scope_exit.hpp"
 #include "rmw/error_handling.h"
+#include "rmw_security_common/security.hpp"
 #include "zenoh_utils.hpp"
 
 // Megabytes of SHM to reserve.
@@ -52,7 +53,8 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this<Data>
   // Constructor.
   Data(
     std::size_t domain_id,
-    const std::string & enclave)
+    const std::string & enclave,
+    const rmw_security_options_t & security_options)
   : domain_id_(std::move(domain_id)),
     enclave_(std::move(enclave)),
     is_shutdown_(false),
@@ -67,7 +69,55 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this<Data>
     if (!config.has_value()) {
       throw std::runtime_error("Error configuring Zenoh session.");
     }
+#ifdef HAVE_SECURITY
+    rcutils_allocator_t allocator = rcutils_get_default_allocator();
+    rcutils_string_map_t security_files = rcutils_get_zero_initialized_string_map();
+    rcutils_ret_t ret = rcutils_string_map_init(&security_files, 0, allocator);
+
+    auto scope_exit = rcpputils::make_scope_exit(
+      [&security_files]() {
+        rcutils_ret_t ret = rcutils_string_map_fini(&security_files);
+        if (ret != RMW_RET_OK) {
+          throw std::runtime_error("Failed to fini string map for security.");
+        }
+    });
+
+    if (ret != RMW_RET_OK) {
+      throw std::runtime_error("Failed to initialize string map for security.");
+    }
 
+    if (get_security_files_support_pkcs(
+        false, "", security_options.security_root_path, &security_files) == RMW_RET_OK)
+    {
+      config.value().insert_json5("connect/endpoints", "[\"tls/localhost:7447\"]");
+      config.value().insert_json5("listen/endpoints", "[\"tls/localhost:0\"]");
+
+      std::string tls_config = "{\"link\": \n"
+        "\t\t{ \n"
+        "\t\t\t\"protocols\": [ \n"
+        "\t\t\t\t\"tls\" \n"
+        "\t\t\t], \n"
+        "\t\t\t\"tls\": { \n"
+        "\t\t\t\t\"enable_mtls\": true, \n"
+        "\t\t\t\t\"verify_name_on_connect\": false, \n"
+        "\t\t\t\t\"root_ca_certificate\": \"" + std::string(rcutils_string_map_get(&security_files,
+        "IDENTITY_CA")) + "\",\n" +
+        "\t\t\t\t\"listen_private_key\": \"" + std::string(rcutils_string_map_get(&security_files,
+        "PRIVATE_KEY")) + "\",\n" +
+        "\t\t\t\t\"listen_certificate\": \"" + std::string(rcutils_string_map_get(&security_files,
+        "CERTIFICATE")) + "\",\n" +
+        "\t\t\t\t\"connect_private_key\": \"" + std::string(rcutils_string_map_get(&security_files,
+        "PRIVATE_KEY")) + "\",\n" +
+        "\t\t\t\t\"connect_certificate\": \"" + std::string(rcutils_string_map_get(&security_files,
+        "CERTIFICATE")) + "\",\n" +
+        "\t\t\t}, \n"
+        "\t\t}, \n"
+        "\t}\n";
+      config.value().insert_json5(
+        "transport",
+        tls_config);
+    }
+#endif
     zenoh::ZResult result;
 
 #ifndef _MSC_VER
@@ -100,8 +150,8 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this<Data>
       constexpr int64_t ticks_between_print(std::chrono::milliseconds(1000) / sleep_time);
       do {
         zenoh::ZResult result;
-        const auto zids = this->session_->get_routers_z_id(&result);
-        if (result == Z_OK && !zids.empty()) {
+        this->session_->get_routers_z_id(&result);
+        if (result == Z_OK) {
           break;
         }
         if ((connection_attempts % ticks_between_print) == 0) {
@@ -441,9 +491,10 @@ class rmw_context_impl_s::Data final : public std::enable_shared_from_this<Data>
 ///=============================================================================
 rmw_context_impl_s::rmw_context_impl_s(
   const std::size_t domain_id,
-  const std::string & enclave)
+  const std::string & enclave,
+  const rmw_security_options_t & security_options)
 {
-  data_ = std::make_shared<Data>(domain_id, std::move(enclave));
+  data_ = std::make_shared<Data>(domain_id, std::move(enclave), security_options);
   data_->init();
 }
 
diff --git a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp
index a2fdaf5e8..044c4092b 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp
@@ -40,7 +40,8 @@ struct rmw_context_impl_s final
   // check has not succeeded.
   rmw_context_impl_s(
     const std::size_t domain_id,
-    const std::string & enclave);
+    const std::string & enclave,
+    const rmw_security_options_t & security_options);
 
   ~rmw_context_impl_s();
 
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index cb34697c9..947e542e3 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -110,7 +110,8 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
     return RMW_RET_BAD_ALLOC,
     rmw_context_impl_t,
     context->actual_domain_id,
-    std::string(options->enclave)
+    std::string(options->enclave),
+    context->options.security_options
   );
 
   free_options.cancel();