diff --git a/rclpy/CMakeLists.txt b/rclpy/CMakeLists.txt
index d91c6b091..6862715cc 100644
--- a/rclpy/CMakeLists.txt
+++ b/rclpy/CMakeLists.txt
@@ -195,6 +195,7 @@ if(BUILD_TESTING)
       test/test_rate.py
       test/test_rosout_subscription.py
       test/test_serialization.py
+      test/test_service.py
       test/test_service_introspection.py
       test/test_subscription.py
       test/test_task.py
diff --git a/rclpy/rclpy/client.py b/rclpy/rclpy/client.py
index 7ae2350d4..66c44c984 100644
--- a/rclpy/rclpy/client.py
+++ b/rclpy/rclpy/client.py
@@ -204,5 +204,10 @@ def configure_introspection(
     def handle(self):
         return self.__client
 
+    @property
+    def service_name(self) -> str:
+        with self.handle:
+            return self.__client.service_name
+
     def destroy(self):
         self.__client.destroy_when_not_in_use()
diff --git a/rclpy/rclpy/service.py b/rclpy/rclpy/service.py
index 377996b26..c375e4bd6 100644
--- a/rclpy/rclpy/service.py
+++ b/rclpy/rclpy/service.py
@@ -102,5 +102,10 @@ def configure_introspection(
     def handle(self):
         return self.__service
 
+    @property
+    def service_name(self) -> str:
+        with self.handle:
+            return self.__service.name
+
     def destroy(self):
         self.__service.destroy_when_not_in_use()
diff --git a/rclpy/src/rclpy/client.cpp b/rclpy/src/rclpy/client.cpp
index 1376ec91a..c25a70a55 100644
--- a/rclpy/src/rclpy/client.cpp
+++ b/rclpy/src/rclpy/client.cpp
@@ -164,11 +164,20 @@ Client::configure_introspection(
   }
 }
 
+const char *
+Client::get_service_name()
+{
+  return rcl_client_get_service_name(rcl_client_.get());
+}
+
 void
 define_client(py::object module)
 {
   py::class_<Client, Destroyable, std::shared_ptr<Client>>(module, "Client")
   .def(py::init<Node &, py::object, const std::string &, py::object>())
+  .def_property_readonly(
+    "service_name", &Client::get_service_name,
+    "Get the name of the service")
   .def_property_readonly(
     "pointer", [](const Client & client) {
       return reinterpret_cast<size_t>(client.rcl_ptr());
diff --git a/rclpy/src/rclpy/client.hpp b/rclpy/src/rclpy/client.hpp
index 90088afce..9cef3400c 100644
--- a/rclpy/src/rclpy/client.hpp
+++ b/rclpy/src/rclpy/client.hpp
@@ -105,6 +105,10 @@ class Client : public Destroyable, public std::enable_shared_from_this<Client>
   void
   destroy() override;
 
+  /// Get the service name.
+  const char *
+  get_service_name();
+
 private:
   Node node_;
   std::shared_ptr<rcl_client_t> rcl_client_;
diff --git a/rclpy/test/test_client.py b/rclpy/test/test_client.py
index 6903fc78b..69cfd3b68 100644
--- a/rclpy/test/test_client.py
+++ b/rclpy/test/test_client.py
@@ -20,6 +20,7 @@
 import rclpy
 import rclpy.executors
 from rclpy.utilities import get_rmw_implementation_identifier
+from test_msgs.srv import Empty
 
 # TODO(sloretz) Reduce fudge once wait_for_service uses node graph events
 TIME_FUDGE = 0.3
@@ -38,6 +39,23 @@ def tearDownClass(cls):
         cls.node.destroy_node()
         rclpy.shutdown(context=cls.context)
 
+    @classmethod
+    def do_test_service_name(cls, test_service_name_list):
+        for service_name, ns, cli_args, target_service_name in test_service_name_list:
+            node = rclpy.create_node(
+                node_name='node_name',
+                context=cls.context,
+                namespace=ns,
+                cli_args=cli_args,
+                start_parameter_services=False)
+            client = node.create_client(
+                srv_type=Empty,
+                srv_name=service_name
+            )
+            assert client.service_name == target_service_name
+            client.destroy()
+            node.destroy_node()
+
     def test_wait_for_service_5sec(self):
         cli = self.node.create_client(GetParameters, 'get/parameters')
         try:
@@ -136,6 +154,35 @@ def test_different_type_raises(self):
             self.node.destroy_client(cli)
             self.node.destroy_service(srv)
 
+    def test_get_service_name(self):
+        test_service_name_list = [
+            # test_service_name, namespace, cli_args for remap, expected service name
+            # No namespaces
+            ('service', None, None, '/service'),
+            ('example/service', None, None, '/example/service'),
+            # Using service names with namespaces
+            ('service', 'ns', None, '/ns/service'),
+            ('example/service', 'ns', None, '/ns/example/service'),
+            ('example/service', 'my/ns', None, '/my/ns/example/service'),
+            ('example/service', '/my/ns', None, '/my/ns/example/service'),
+            # Global service name
+            ('/service', 'ns', None, '/service'),
+            ('/example/service', 'ns', None, '/example/service')
+        ]
+        TestClient.do_test_service_name(test_service_name_list)
+
+    def test_get_service_name_after_remapping(self):
+        test_service_name_list = [
+            ('service', None, ['--ros-args', '--remap', 'service:=new_service'], '/new_service'),
+            ('service', 'ns', ['--ros-args', '--remap', 'service:=new_service'],
+             '/ns/new_service'),
+            ('service', 'ns', ['--ros-args', '--remap', 'service:=example/new_service'],
+             '/ns/example/new_service'),
+            ('example/service', 'ns', ['--ros-args', '--remap', 'example/service:=new_service'],
+             '/ns/new_service')
+        ]
+        TestClient.do_test_service_name(test_service_name_list)
+
 
 if __name__ == '__main__':
     unittest.main()
diff --git a/rclpy/test/test_service.py b/rclpy/test/test_service.py
new file mode 100644
index 000000000..c620afb11
--- /dev/null
+++ b/rclpy/test/test_service.py
@@ -0,0 +1,80 @@
+# Copyright 2023 Sony Group Corporation.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import pytest
+
+import rclpy
+from rclpy.node import Node
+
+from test_msgs.srv import Empty
+
+
+@pytest.fixture(autouse=True)
+def default_context():
+    rclpy.init()
+    yield
+    rclpy.shutdown()
+
+
+@pytest.mark.parametrize('service_name, namespace, expected', [
+    # No namespaces
+    ('service', None, '/service'),
+    ('example/service', None, '/example/service'),
+    # Using service names with namespaces
+    ('service', 'ns', '/ns/service'),
+    ('example/service', 'ns', '/ns/example/service'),
+    ('example/service', 'my/ns', '/my/ns/example/service'),
+    ('example/service', '/my/ns', '/my/ns/example/service'),
+    # Global service name
+    ('/service', 'ns', '/service'),
+    ('/example/service', 'ns', '/example/service'),
+])
+def test_get_service_name(service_name, namespace, expected):
+    node = Node('node_name', namespace=namespace, cli_args=None, start_parameter_services=False)
+    srv = node.create_service(
+        srv_type=Empty,
+        srv_name=service_name,
+        callback=lambda _: None
+    )
+
+    assert srv.service_name == expected
+
+    srv.destroy()
+    node.destroy_node()
+
+
+@pytest.mark.parametrize('service_name, namespace, cli_args, expected', [
+    ('service', None, ['--ros-args', '--remap', 'service:=new_service'], '/new_service'),
+    ('service', 'ns', ['--ros-args', '--remap', 'service:=new_service'], '/ns/new_service'),
+    ('service', 'ns', ['--ros-args', '--remap', 'service:=example/new_service'],
+     '/ns/example/new_service'),
+    ('example/service', 'ns', ['--ros-args', '--remap', 'example/service:=new_service'],
+     '/ns/new_service'),
+])
+def test_get_service_name_after_remapping(service_name, namespace, cli_args, expected):
+    node = Node(
+        'node_name',
+        namespace=namespace,
+        cli_args=cli_args,
+        start_parameter_services=False)
+    srv = node.create_service(
+        srv_type=Empty,
+        srv_name=service_name,
+        callback=lambda _: None
+    )
+
+    assert srv.service_name == expected
+
+    srv.destroy()
+    node.destroy_node()