diff --git a/nav2_waypoint_follower/src/waypoint_follower.cpp b/nav2_waypoint_follower/src/waypoint_follower.cpp
index 8dfd9b1461e..02a4158d280 100644
--- a/nav2_waypoint_follower/src/waypoint_follower.cpp
+++ b/nav2_waypoint_follower/src/waypoint_follower.cpp
@@ -154,6 +154,7 @@ WaypointFollower::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
 
   xyz_action_server_->deactivate();
   gps_action_server_->deactivate();
+  remove_on_set_parameters_callback(dyn_params_handler_.get());
   dyn_params_handler_.reset();
   // destroy bond connection
   destroyBond();