diff --git a/r2r_tracing/src/callback.rs b/r2r_tracing/src/callback.rs
new file mode 100644
index 0000000..5894485
--- /dev/null
+++ b/r2r_tracing/src/callback.rs
@@ -0,0 +1,80 @@
+use crate::{
+    trace_callback_register, trace_service_callback_added, trace_subscription_callback_added,
+    trace_timer_callback_added, TracingId,
+};
+use r2r_rcl::{rcl_service_t, rcl_timer_t};
+use std::{
+    any::type_name,
+    marker::PhantomData,
+    sync::atomic::{AtomicUsize, Ordering::Relaxed},
+};
+
+/// Tracing wrapper for callback
+pub struct Callback<F, M>
+where
+    F: FnMut(M),
+{
+    func: F,
+    id: usize,
+    msg_type: PhantomData<M>,
+}
+
+impl<F, M> Callback<F, M>
+where
+    F: FnMut(M),
+{
+    /// Generates unique ID for the callback
+    fn gen_id() -> usize {
+        static COUNTER: AtomicUsize = AtomicUsize::new(1);
+        COUNTER.fetch_add(1, Relaxed)
+    }
+
+    fn new(callback: F, id: usize) -> Self {
+        trace_callback_register(id, type_name::<F>());
+
+        Self {
+            func: callback,
+            id,
+            msg_type: PhantomData,
+        }
+    }
+
+    /// Emits trace event associating this `callback` with the `service`.
+    ///
+    /// Wraps the callback to allow tracing the callback calls.
+    pub fn new_service(service: *const rcl_service_t, callback: F) -> Self {
+        let id = Self::gen_id();
+        trace_service_callback_added(service, id);
+
+        Self::new(callback, id)
+    }
+
+    /// Emits trace event associating this `callback` with the `timer`.
+    ///
+    /// Wraps the callback to allow tracing the callback calls.
+    pub fn new_timer(timer: TracingId<rcl_timer_t>, callback: F) -> Self {
+        let id = Self::gen_id();
+        trace_timer_callback_added(timer, id);
+
+        Self::new(callback, id)
+    }
+
+    /// Emits trace event associating this `callback` with the `subscription`.
+    ///
+    /// Wraps the callback to allow tracing the callback calls.
+    pub fn new_subscription<S>(subscriber: &S, callback: F) -> Self {
+        let id = Self::gen_id();
+        trace_subscription_callback_added(subscriber, id);
+
+        Self::new(callback, id)
+    }
+
+    /// Call the `callback`.
+    /// This emits `ros2:callback_start` and `ros2:callback_end` events at
+    /// the beginning and end respectively.
+    pub fn call(&mut self, msg: M) {
+        crate::trace_callback_start(self.id, false);
+        (self.func)(msg);
+        crate::trace_callback_end(self.id);
+    }
+}
diff --git a/r2r_tracing/src/lib.rs b/r2r_tracing/src/lib.rs
index b9ae86a..085dd75 100644
--- a/r2r_tracing/src/lib.rs
+++ b/r2r_tracing/src/lib.rs
@@ -12,6 +12,9 @@ pub use rclcpp_tracepoints::*;
 mod r2r_tracepoints;
 pub use r2r_tracepoints::*;
 
+mod callback;
+pub use callback::Callback;
+
 mod tracing_id;
 pub use tracing_id::TracingId;