diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
index 732cd470..6f8e6581 100644
--- a/rmw_zenoh_cpp/CMakeLists.txt
+++ b/rmw_zenoh_cpp/CMakeLists.txt
@@ -21,9 +21,15 @@ 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_dds_common REQUIRED)
 find_package(tracetools REQUIRED)
 find_package(zenoh_cpp_vendor REQUIRED)
 
+if(SECURITY)
+  find_package(OpenSSL REQUIRED)
+  set(HAVE_SECURITY 1)
+endif()
+
 add_library(rmw_zenoh_cpp SHARED
   src/detail/attachment_helpers.cpp
   src/detail/cdr.cpp
@@ -68,6 +74,7 @@ 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_dds_common::rmw_dds_common_library
     tracetools::tracetools
     zenohcxx::zenohc
 )
@@ -79,6 +86,7 @@ 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}
 )
 
 ament_export_targets(export_rmw_zenoh_cpp)
diff --git a/rmw_zenoh_cpp/package.xml b/rmw_zenoh_cpp/package.xml
index e8b4288a..997391ad 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_dds_common</depend>
   <depend>tracetools</depend>
 
   <test_depend>ament_lint_auto</test_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 e6198f3a..5055097c 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_dds_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 +69,37 @@ 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
+    std::unordered_map<std::string, std::string> security_files_paths;
+    if (rmw_dds_common::get_security_files(
+        true, "", security_options->security_root_path, security_files_paths))
+    {
+      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\": \"" + security_files_paths["IDENTITY_CA"] + "\",\n" +
+        "\t\t\t\t\"listen_private_key\": \"" + security_files_paths["PRIVATE_KEY"] + "\",\n" +
+        "\t\t\t\t\"listen_certificate\": \"" + security_files_paths["CERTIFICATE"] + "\",\n" +
+        "\t\t\t\t\"connect_private_key\": \"" + security_files_paths["PRIVATE_KEY"] + "\",\n" +
+        "\t\t\t\t\"connect_certificate\": \"" + security_files_paths["CERTIFICATE"] + "\",\n" +
+        "\t\t\t}, \n"
+        "\t\t}, \n"
+        "\t}\n";
+      config.value().insert_json5(
+        "transport",
+        tls_config);
+    } else {
+      std::cout << "Error getting secutiry data" << std::endl;
+    }
+#endif
     zenoh::ZResult result;
 
 #ifndef _MSC_VER
@@ -432,9 +464,10 @@ 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 a2fdaf5e..310c3352 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 cb34697c..647c5066 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();