diff --git a/src/ModelingToolkit.jl b/src/ModelingToolkit.jl
index 20b2ada8fa..10aba4d8a9 100644
--- a/src/ModelingToolkit.jl
+++ b/src/ModelingToolkit.jl
@@ -181,6 +181,7 @@ include("discretedomain.jl")
 include("systems/systemstructure.jl")
 include("systems/clock_inference.jl")
 include("systems/systems.jl")
+include("systems/if_lifting.jl")
 
 include("debugging.jl")
 include("systems/alias_elimination.jl")
diff --git a/src/systems/if_lifting.jl b/src/systems/if_lifting.jl
new file mode 100644
index 0000000000..b426832b69
--- /dev/null
+++ b/src/systems/if_lifting.jl
@@ -0,0 +1,397 @@
+"""
+    struct CondRewriter
+
+Callable struct used to transform symbolic conditions into conditions involving discrete
+variables.
+"""
+struct CondRewriter
+    """
+    The independent variable which the discrete variables depend on.
+    """
+    iv::BasicSymbolic
+    """
+    A mapping from a discrete variables to a `NamedTuple` containing the condition
+    determining whether the discrete variable needs to be evaluated and the symbolic
+    expression the discrete variable represents. The expression is a comparison operation
+    such that the LHS of the comparison is used as a rootfinding function, and
+    zero-crossings trigger re-evaluation of the condition (if `dependency` is `true`).
+    """
+    conditions::Dict{Any, @NamedTuple{dependency, expression}}
+end
+
+function CondRewriter(iv)
+    return CondRewriter(iv, Dict())
+end
+
+"""
+A function which transforms comparison operations of the form `var op var` into
+`var - var op 0`.
+"""
+const COMPARISON_TRANSFORM = unwrap ∘ SymbolicUtils.Rewriters.Chain([
+    (@rule (~a) < (~b) => ~a - ~b < 0),
+    (@rule (~a) > (~b) => ~a - ~b > 0),
+    (@rule (~a) <= (~b) => ~a - ~b <= 0),
+    (@rule (~a) >= (~b) => ~a - ~b >= 0)
+])
+
+"""
+    $(TYPEDSIGNATURES)
+
+Given a symbolic condition `expr` and the condition `dep` it depends on, update the
+mapping in `cw` and generate a new discrete variable if necessary.
+"""
+function new_cond_sym(cw::CondRewriter, expr, dep)
+    # check if the same expression exists in the mapping
+    existing_var = findfirst(p -> isequal(p.expression, expr), cw.conditions)
+    if existing_var !== nothing
+        # cache hit
+        (existing_dep, _) = cw.conditions[existing_var]
+        # update the dependency condition
+        cw.conditions[existing_var] = (dependency = (dep | existing_dep), expression = expr)
+        return existing_var
+    end
+    # generate a new condition variable
+    cvar = gensym("cond")
+    st = symtype(expr)
+    iv = cw.iv
+    cv = first(@parameters $(cvar)(iv)::st = true) # TODO: real init 
+    cw.conditions[cv] = (dependency = dep, expression = expr)
+    return cv
+end
+
+"""
+A list of comparison operations.
+"""
+const COMPARISONS = Set([Base.:<, Base.:>, Base.:<=, Base.:>=])
+
+"""
+Utility function for boolean implication.
+"""
+implies(a, b) = !a & b
+
+"""
+    $(TYPEDSIGNATURES)
+
+Recursively rewrite conditions into discrete variables. `expr` is the condition to rewrite,
+`dep` is a boolean expression/value which determines when the `expr` is to be evaluated. For
+example, if `expr = expr1 | expr2` and `dep = dep1`, then `expr` should only be evaluated if
+`dep1` evaluates to `true`. Recursively, `expr1` should only be evaluated if `dep1` is `true`,
+and `expr2` should only be evaluated if `dep & !expr1`.
+
+Returns a 3-tuple of the substituted expression, a condition describing when `expr` evaluates
+to `true`, and a condition describing when `expr` evaluates to `false`.
+"""
+function (cw::CondRewriter)(expr, dep)
+    # single variable, trivial case
+    if issym(expr) || iscall(expr) && issym(operation(expr))
+        return (expr, expr, !expr)
+        # literal boolean or integer
+    elseif expr isa Bool
+        return (expr, expr, !expr)
+    elseif expr isa Int
+        return (expr, true, true)
+        # other singleton symbolic variables
+    elseif !iscall(expr)
+        @warn "Automatic conversion of if statments to events requires use of a limited conditional grammar; see the documentation. Skipping due to $expr"
+        return (expr, true, true) # error case => conservative assumption is that both true and false have to be evaluated
+    elseif operation(expr) == Base.:(|) # OR of two conditions
+        a, b = arguments(expr)
+        (rw_conda, truea, falsea) = cw(a, dep)
+        # only evaluate second if first is false
+        (rw_condb, trueb, falseb) = cw(b, dep & falsea)
+        return (rw_conda | rw_condb, truea | trueb, falsea & falseb)
+
+    elseif operation(expr) == Base.:(&) # AND of two conditions
+        a, b = arguments(expr)
+        (rw_conda, truea, falsea) = cw(a, dep)
+        # only evaluate second if first is true
+        (rw_condb, trueb, falseb) = cw(b, dep & truea)
+        return (rw_conda & rw_condb, truea & trueb, falsea | falseb)
+    elseif operation(expr) == ifelse
+        c, a, b = arguments(expr)
+        (rw_cond, ctrue, cfalse) = cw(c, dep)
+        # only evaluate if condition is true
+        (rw_conda, truea, falsea) = cw(a, dep & ctrue)
+        # only evaluate if condition is false
+        (rw_condb, trueb, falseb) = cw(b, dep & cfalse)
+        # expression is true if condition is true and THEN branch is true, or condition is false
+        # and ELSE branch is true
+        # similarly for expression being false
+        return (ifelse(rw_cond, rw_conda, rw_condb),
+            implies(ctrue, truea) | implies(cfalse, trueb),
+            implies(ctrue, falsea) | implies(cfalse, falseb))
+    elseif operation(expr) == Base.:(!) # NOT of expression
+        (a,) = arguments(expr)
+        (rw, ctrue, cfalse) = cw(a, dep)
+        return (!rw, cfalse, ctrue)
+    elseif operation(expr) in COMPARISONS # comparison operators
+        # turn int `var - var op 0`
+        expr = COMPARISON_TRANSFORM(expr)
+        # a new discrete variable to represent `var - var op 0`
+        cv = new_cond_sym(cw, expr, dep)
+        return (cv, cv, !cv)
+    elseif operation(expr) == (==)
+        # we don't touch equality since it's a point discontinuity. It's basically always
+        # false for continuous variables. In case it's an equality between discrete
+        # quantities, we don't need to transform it.
+        return (expr, expr, !expr)
+    end
+    error("Unsupported expression form in decision variable computation $expr")
+end
+
+"""
+    $(TYPEDSIGNATURES)
+
+Acts as the identity function, and prevents transformation of conditional expressions inside it. Useful
+if specific `ifelse` or other functions with discontinuous derivatives shouldn't be transformed into
+callbacks.
+"""
+no_if_lift(s) = s
+@register_symbolic no_if_lift(s)
+
+"""
+    $(TYPEDEF)
+
+A utility struct to search through an expression specifically for `ifelse` terms, and find
+all variables used in the condition of such terms. The variables are stored in a field of
+the struct.
+"""
+struct VarsUsedInCondition
+    """
+    Stores variables used in conditions of `ifelse` statements in the expression.
+    """
+    vars::Set{Any}
+end
+
+VarsUsedInCondition() = VarsUsedInCondition(Set())
+
+function (v::VarsUsedInCondition)(expr)
+    expr = Symbolics.unwrap(expr)
+    if symbolic_type(expr) == NotSymbolic()
+        is_array_of_symbolics(expr) || return
+        foreach(v, expr)
+        return
+    end
+    iscall(expr) || return
+    op = operation(expr)
+
+    # do not search inside no_if_lift to avoid discovering
+    # redundant variables
+    op == no_if_lift && return
+
+    args = arguments(expr)
+    if op == ifelse
+        cond, branch_a, branch_b = arguments(expr)
+        vars!(v.vars, cond)
+        v(branch_a)
+        v(branch_b)
+    end
+    foreach(v, args)
+    return
+end
+
+"""
+    $(TYPEDSIGNATURES)
+
+Given an expression `expr` which is to be evaluated if `dep` evaluates to `true`, transform
+the conditions of all all `ifelse` statements in `expr` into functions of new discrete
+variables. `cw` is used to store the information relevant to these newly introduced variables.
+"""
+function rewrite_ifs(cw::CondRewriter, expr, dep)
+    expr = unwrap(expr)
+    if symbolic_type(expr) == NotSymbolic()
+        is_array_of_symbolics(expr) || return expr
+        return map(expr) do ex
+            rewrite_ifs(cw, ex, dep)
+        end
+    end
+    iscall(expr) || return expr
+    op = operation(expr)
+    # don't recurse into singleton variables or places where the user doesn't want if-lifting
+    (issym(op) || op == no_if_lift) && return expr
+    args = arguments(expr)
+
+    # transform `ifelse` that don't depend on a single symbolic variable.
+    if op == ifelse && (!issym(args[1]) || iscall(args[1]) && !issym(operation(args[1])))
+        cond, iftrue, iffalse = args
+        (rw_cond, deptrue, depfalse) = cw(cond, dep)
+        rw_iftrue = rewrite_ifs(cw, iftrue, deptrue)
+        rw_iffalse = rewrite_ifs(cw, iffalse, depfalse)
+        return ifelse(unwrap(rw_cond), rw_iftrue, rw_iffalse)
+    end
+    # recursively rewrite
+    return maketerm(
+        typeof(expr), op, map(x -> rewrite_ifs(cw, x, dep), args), metadata(expr))
+end
+
+"""
+    $(TYPEDSIGNATURES)
+
+Return a modified `expr` where functions with known discontinuities or discontinuous
+derivatives are transformed into `ifelse` statements. Utilizes the discontinuity API
+in Symbolics. See [`Symbolics.rootfunction`](@ref),
+[`Symbolics.left_continuous_function`](@ref), [`Symbolics.right_continuous_function`](@ref).
+"""
+function discontinuities_to_ifelse(expr)
+    if symbolic_type(expr) == NotSymbolic()
+        is_array_of_symbolics(expr) || return expr
+        return map(discontinuities_to_ifelse, expr)
+    end
+    iscall(expr) || return expr
+    op = operation(expr)
+    # don't transform inside `no_if_lift`
+    (issym(op) || op === no_if_lift) && return expr
+    args = arguments(expr)
+    args = map(discontinuities_to_ifelse, args)
+    # if the operation is a known discontinuity
+    if hasmethod(Symbolics.rootfunction, Tuple{typeof(op)})
+        rootfn = Symbolics.rootfunction(op)
+        leftfn = Symbolics.left_continuous_function(op)
+        rightfn = Symbolics.right_continuous_function(op)
+        rootexpr = rootfn(args...) < 0
+        leftexpr = leftfn(args...)
+        rightexpr = rightfn(args...)
+        return ifelse(rootexpr, leftexpr, rightexpr)
+    end
+    return maketerm(typeof(expr), op, args, Symbolics.metadata(expr))
+end
+
+"""
+    $(TYPEDSIGNATURES)
+
+Generate the symbolic condition for discrete variable `sym`, which represents the condition
+of an `ifelse` statement created through [`IfLifting`](@ref). This condition is used to
+trigger a callback which updates the value of the condition appropriately.
+"""
+function generate_condition(cw::CondRewriter, sym)
+    (dep, uexpr) = cw.conditions[sym]
+    # `uexpr` is a comparison, the LHS is the zero-crossing function
+    zero_crossing = arguments(uexpr)[1]
+    # if we're meant to evaluate the condition, evaluate it. Otherwise, return `NaN`.
+    # the solvers don't treat the transition from a number to NaN or back as a zero-crossing,
+    # so it can be used to effectively disable the affect when the condition is not meant to
+    # be evaluated.
+    return ifelse(dep, arguments(uexpr)[1], NaN) ~ 0
+end
+
+"""
+    $(TYPEDSIGNATURES)
+
+Generate the affect function for discrete variable `sym` involved in `ifelse` statements that
+are lifted to callbacks using [`IfLifting`](@ref). `syms` is a condition variable introduced
+by `cw`, and is thus a key in `cw.conditions`. `new_cond_vars` is the list of all such new
+condition variables, corresponding to the order of vertices in `new_cond_vars_graph`.
+`new_cond_vars_graph` is a directed graph where edges denote the condition variables involved
+in the dependency expression of the source vertex.
+"""
+function generate_affect(cw::CondRewriter, sym, new_cond_vars, new_cond_vars_graph)
+    sym_idx = findfirst(isequal(sym), new_cond_vars)
+    if sym_idx === nothing
+        throw(ArgumentError("Expected variable $sym to be a condition variable in $new_cond_vars."))
+    end
+    # use reverse direction of edges because instead of finding the variables it depends
+    # on, we want the variables that depend on it
+    parents = bfs_parents(new_cond_vars_graph, sym_idx; dir = :in)
+    cond_vars_to_update = [new_cond_vars[i]
+                           for i in eachindex(parents) if !iszero(parents[i])]
+    update_syms = Symbol.(cond_vars_to_update)
+    update_exprs = [last(cw.conditions[sym]) for sym in cond_vars_to_update]
+    return ImperativeAffect(modified = NamedTuple{(update_syms...,)}(cond_vars_to_update),
+        observed = NamedTuple{(update_syms...,)}(update_exprs),
+        skip_checks = true) do x, o, c, i
+        x .= o
+    end
+end
+
+"""
+If lifting converts (nested) if statements into a series of continous events + a logically equivalent if statement + parameters.
+
+Lifting proceeds through the following process:
+* rewrite comparisons to be of the form eqn [op] 0; subtract the RHS from the LHS 
+* replace comparisons with generated parameters; for each comparison eqn [op] 0, generate an event (dependent on op) that sets the parameter
+"""
+function IfLifting(sys::ODESystem)
+    cw = CondRewriter(get_iv(sys))
+
+    eqs = copy(equations(sys))
+    obs = copy(observed(sys))
+
+    # get variables used by `eqs`
+    syms = vars(eqs)
+    # get observed equations used by `eqs`
+    obs_idxs = observed_equations_used_by(sys, eqs; involved_vars = syms)
+    # and the variables used in those equations
+    for i in obs_idxs
+        vars!(syms, obs[i])
+    end
+
+    # get all integral variables used in conditions
+    # this is used when performing the transformation on observed equations
+    # since they are transformed differently depending on whether they are
+    # discrete variables involved in a condition or not
+    condition_vars = Set()
+    # searcher struct
+    # we can use the same one since it avoids iterating over duplicates
+    vars_in_condition! = VarsUsedInCondition()
+    for i in eachindex(eqs)
+        eq = eqs[i]
+        vars_in_condition!(eq.rhs)
+        # also transform the equation
+        eqs[i] = eq.lhs ~ rewrite_ifs(cw, discontinuities_to_ifelse(eq.rhs), true)
+    end
+    # also search through relevant observed equations
+    for i in obs_idxs
+        vars_in_condition!(obs[i].rhs)
+    end
+    # add to `condition_vars` after filtering out differential, parameter, independent and
+    # non-integral variables
+    for v in vars_in_condition!.vars
+        v = unwrap(v)
+        stype = symtype(v)
+        if isdifferential(v) || isparameter(v) || isequal(v, get_iv(sys))
+            continue
+        end
+        stype <: Union{Integer, AbstractArray{Integer}} && push!(condition_vars, v)
+    end
+    # transform observed equations
+    for i in obs_idxs
+        obs[i] = if obs[i].lhs in condition_vars
+            obs[i].lhs ~ first(cw(obs[i].rhs, true))
+        else
+            obs[i].lhs ~ rewrite_ifs(cw, discontinuities_to_ifelse(eq.rhs), true)
+        end
+    end
+
+    # get directed graph where nodes are the new condition variables and edges from each
+    # node denote the condition variables used in it's dependency expression
+
+    # so we have an ordering for the vertices
+    new_cond_vars = collect(keys(cw.conditions))
+    # "observed" equations
+    new_cond_dep_eqs = [v ~ cw.conditions[v] for v in new_cond_vars]
+    # construct the graph as a `DiCMOBiGraph`
+    new_cond_vars_graph = observed_dependency_graph(new_cond_dep_eqs)
+
+    new_callbacks = continuous_events(sys)
+    new_defaults = defaults(sys)
+    new_ps = parameters(sys)
+
+    for var in new_cond_vars
+        condition = generate_condition(cw, var)
+        affect = generate_affect(cw, var, new_cond_vars, new_cond_vars_graph)
+        cb = SymbolicContinuousCallback([condition], affect; affect_neg = affect,
+            initialize = affect, rootfind = SciMLBase.RightRootFind)
+
+        push!(new_callbacks, cb)
+        new_defaults[var] = getdefault(var)
+        push!(new_ps, var)
+    end
+
+    @set! sys.defaults = new_defaults
+    @set! sys.eqs = eqs
+    # do not need to topsort because we didn't modify the order
+    @set! sys.observed = obs
+    @set! sys.continuous_events = new_callbacks
+    @set! sys.ps = new_ps
+    return sys
+end