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 22a0cc0d..9f539756 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
@@ -134,7 +134,7 @@ rmw_ret_t rmw_context_impl_s::Data::subscribe_to_ros_graph()
   // zenoh::Session::LivelinessSubscriberOptions options = zenoh::Session::LivelinessSubscriberOptions::create_default();
   // options.history = true;
   // zenoh::ZResult err;
-  // auto graph_subscriber_cpp = session_cpp_.liveliness_declare_subscriber(
+  // graph_subscriber_cpp_ = session_cpp_->liveliness_declare_subscriber(
   //   keyexpr_cpp,
   //   [](const zenoh::Sample& s) {
   //       auto data_ptr = static_cast<Data*>(static_cast<void*>(s.get_attachment().value().get().as_vector().data()));
@@ -168,8 +168,6 @@ rmw_ret_t rmw_context_impl_s::Data::subscribe_to_ros_graph()
   //   std::move(options),
   //   &err);
 
-  // graph_subscriber_cpp_.push_back(std::move(graph_subscriber_cpp));
-
   // if (err != Z_OK) {
   //   RMW_SET_ERROR_MSG("unable to create zenoh subscription");
   //   return RMW_RET_ERROR;
@@ -227,8 +225,6 @@ rmw_ret_t rmw_context_impl_s::Data::shutdown()
 
   z_undeclare_subscriber(z_move(graph_subscriber_));
 
-  // graph_subscriber_cpp_.clear();
-
 #ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
   // drop SHM subsystem if used
   shm_ = std::nullopt;
@@ -269,14 +265,6 @@ rmw_context_impl_s::rmw_context_impl_s(
     throw std::runtime_error("Error setting up zenoh session. " + std::to_string(static_cast<int>(result)));
   }
 
-  // // Check if shm is enabled.
-  // z_owned_string_t shm_enabled;
-  // zc_config_get_from_str(z_loan(config), Z_CONFIG_SHARED_MEMORY_KEY, &shm_enabled);
-  // auto always_free_shm_enabled = rcpputils::make_scope_exit(
-  //   [&shm_enabled]() {
-  //     z_drop(z_move(shm_enabled));
-  //   });
-
   rmw_ret_t ret;
 
   // TODO(Yadunund) Move this check into a separate thread.
@@ -340,8 +328,6 @@ rmw_context_impl_s::rmw_context_impl_s(
   for (auto res = replies.recv(); std::holds_alternative<zenoh::Reply>(res); res = replies.recv()) {
       const auto &sample = std::get<zenoh::Reply>(res).get_ok();
       graph_cache->parse_put(sample.get_payload().as_string(), true);
-      std::cout << "Received ('" << sample.get_keyexpr().as_string_view() << "' : '"
-                << sample.get_payload().as_string() << "')\n";
   }
 
 #ifdef RMW_ZENOH_BUILD_WITH_SHARED_MEMORY
@@ -478,7 +464,7 @@ bool rmw_context_impl_s::create_node_data(
   auto node_data = rmw_zenoh_cpp::NodeData::make(
     node,
     this->get_next_entity_id(),
-    z_loan(data_->session_),
+    data_->session_cpp_,
     data_->domain_id_,
     ns,
     node_name,
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 48f6f5a2..ef5a79cf 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp
@@ -141,7 +141,7 @@ class rmw_context_impl_s final
     std::shared_ptr<rmw_zenoh_cpp::GraphCache> graph_cache_;
     // ROS graph liveliness subscriber.
     z_owned_subscriber_t graph_subscriber_;
-    std::vector<zenoh::Subscriber<void>> graph_subscriber_cpp_;
+    std::optional<zenoh::Subscriber<void>> graph_subscriber_cpp_;
     // Equivalent to rmw_dds_common::Context's guard condition.
     // Guard condition that should be triggered when the graph changes.
     std::unique_ptr<rmw_guard_condition_t> graph_guard_condition_;
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
index f4eb0518..11131231 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -30,15 +30,15 @@ namespace rmw_zenoh_cpp
 std::shared_ptr<NodeData> NodeData::make(
   const rmw_node_t * const node,
   std::size_t id,
-  const z_loaned_session_t * session,
+  const std::shared_ptr<zenoh::Session> & session,
   std::size_t domain_id,
   const std::string & namespace_,
   const std::string & node_name,
   const std::string & enclave)
 {
   // Create the entity.
-  auto entity = rmw_zenoh_cpp::liveliness::Entity::make(
-    z_info_zid(session),
+  auto entity = rmw_zenoh_cpp::liveliness::Entity::make_cpp(
+    session->get_zid(),
     std::to_string(id),
     std::to_string(id),
     rmw_zenoh_cpp::liveliness::EntityType::Node,
@@ -58,20 +58,33 @@ std::shared_ptr<NodeData> NodeData::make(
 
   // Create the liveliness token.
   std::string liveliness_keyexpr = entity->liveliness_keyexpr();
-  z_view_keyexpr_t liveliness_ke;
-  z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
-  zc_owned_liveliness_token_t token;
-  auto free_token = rcpputils::make_scope_exit(
-    [&token]() {
-      z_drop(z_move(token));
-    });
-  if (zc_liveliness_declare_token(session, &token, z_loan(liveliness_ke), NULL) != Z_OK) {
+  zenoh::ZResult err;
+  auto token = session->liveliness_declare_token(
+    zenoh::KeyExpr(liveliness_keyexpr),
+    zenoh::Session::LivelinessDeclarationOptions::create_default(),
+    &err);
+
+  if (err != Z_OK)
+  {
     RMW_ZENOH_LOG_ERROR_NAMED(
-      "rmw_zenoh_cpp",
-      "Unable to create liveliness token for the node.");
+        "rmw_zenoh_cpp",
+        "Unable to create liveliness token for the client.");
     return nullptr;
   }
-  free_token.cancel();
+  // z_view_keyexpr_t liveliness_ke;
+  // z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
+  // zc_owned_liveliness_token_t token;
+  // auto free_token = rcpputils::make_scope_exit(
+  //   [&token]() {
+  //     z_drop(z_move(token));
+  //   });
+  // if (zc_liveliness_declare_token(session, &token, z_loan(liveliness_ke), NULL) != Z_OK) {
+  //   RMW_ZENOH_LOG_ERROR_NAMED(
+  //     "rmw_zenoh_cpp",
+  //     "Unable to create liveliness token for the node.");
+  //   return nullptr;
+  // }
+  // free_token.cancel();
 
   return std::shared_ptr<NodeData>(
     new NodeData{
@@ -87,7 +100,7 @@ NodeData::NodeData(
   const rmw_node_t * const node,
   std::size_t id,
   std::shared_ptr<liveliness::Entity> entity,
-  zc_owned_liveliness_token_t token)
+  zenoh::LivelinessToken token)
 : node_(node),
   id_(std::move(id)),
   entity_(std::move(entity)),
@@ -121,7 +134,7 @@ std::size_t NodeData::id() const
 ///=============================================================================
 bool NodeData::create_pub_data(
   const rmw_publisher_t * const publisher,
-  const z_loaned_session_t * session,
+  const std::shared_ptr<zenoh::Session> & session,
   std::size_t id,
   const std::string & topic_name,
   const rosidl_message_type_support_t * type_support,
@@ -143,7 +156,7 @@ bool NodeData::create_pub_data(
   }
 
   auto pub_data = PublisherData::make(
-    std::move(session),
+    session,
     node_,
     entity_->node_info(),
     id_,
@@ -187,7 +200,7 @@ void NodeData::delete_pub_data(const rmw_publisher_t * const publisher)
 ///=============================================================================
 bool NodeData::create_sub_data(
   const rmw_subscription_t * const subscription,
-  const z_loaned_session_t * session,
+  const std::shared_ptr<zenoh::Session> & session,
   std::shared_ptr<GraphCache> graph_cache,
   std::size_t id,
   const std::string & topic_name,
@@ -210,7 +223,7 @@ bool NodeData::create_sub_data(
   }
 
   auto sub_data = SubscriptionData::make(
-    std::move(session),
+    session,
     std::move(graph_cache),
     node_,
     entity_->node_info(),
@@ -255,7 +268,7 @@ void NodeData::delete_sub_data(const rmw_subscription_t * const subscription)
 ///=============================================================================
 bool NodeData::create_service_data(
   const rmw_service_t * const service,
-  const z_loaned_session_t * session,
+  const std::shared_ptr<zenoh::Session> & session,
   std::size_t id,
   const std::string & service_name,
   const rosidl_service_type_support_t * type_supports,
@@ -277,7 +290,7 @@ bool NodeData::create_service_data(
   }
 
   auto service_data = ServiceData::make(
-    std::move(session),
+    session,
     node_,
     entity_->node_info(),
     id_,
@@ -366,7 +379,7 @@ rmw_ret_t NodeData::shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  // zc_liveliness_undeclare_token(z_move(token_));
 
   is_shutdown_ = true;
   return ret;
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp
index f3da6497..e9a7d924 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp
@@ -40,7 +40,7 @@ class NodeData final
   static std::shared_ptr<NodeData> make(
     const rmw_node_t * const node,
     std::size_t id,
-    const z_loaned_session_t * session,
+    const std::shared_ptr<zenoh::Session> & session,
     std::size_t domain_id,
     const std::string & namespace_,
     const std::string & node_name,
@@ -52,7 +52,7 @@ class NodeData final
   // Create a new PublisherData for a given rmw_publisher_t.
   bool create_pub_data(
     const rmw_publisher_t * const publisher,
-    const z_loaned_session_t * session,
+    const std::shared_ptr<zenoh::Session> & session,
     std::size_t id,
     const std::string & topic_name,
     const rosidl_message_type_support_t * type_support,
@@ -67,7 +67,7 @@ class NodeData final
   // Create a new SubscriptionData for a given rmw_subscription_t.
   bool create_sub_data(
     const rmw_subscription_t * const subscription,
-    const z_loaned_session_t * session,
+    const std::shared_ptr<zenoh::Session> & session,
     std::shared_ptr<GraphCache> graph_cache,
     std::size_t id,
     const std::string & topic_name,
@@ -83,7 +83,7 @@ class NodeData final
   // Create a new ServiceData for a given rmw_service_t.
   bool create_service_data(
     const rmw_service_t * const service,
-    const z_loaned_session_t * session,
+    const std::shared_ptr<zenoh::Session> & session,
     std::size_t id,
     const std::string & service_name,
     const rosidl_service_type_support_t * type_support,
@@ -110,7 +110,7 @@ class NodeData final
     const rmw_node_t * const node,
     std::size_t id,
     std::shared_ptr<liveliness::Entity> entity,
-    zc_owned_liveliness_token_t token);
+    zenoh::LivelinessToken token);
   // Internal mutex.
   mutable std::mutex mutex_;
   // The rmw_node_t associated with this NodeData.
@@ -121,7 +121,7 @@ class NodeData final
   // The Entity generated for the node.
   std::shared_ptr<liveliness::Entity> entity_;
   // Liveliness token for the node.
-  zc_owned_liveliness_token_t token_;
+  std::optional<zenoh::LivelinessToken> token_;
   // Shutdown flag.
   bool is_shutdown_;
   // Map of publishers.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
index dfac42f4..c28233e7 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -39,7 +39,7 @@ namespace rmw_zenoh_cpp
 
 ///=============================================================================
 std::shared_ptr<PublisherData> PublisherData::make(
-  const z_loaned_session_t * session,
+  const std::shared_ptr<zenoh::Session> & session,
   const rmw_node_t * const node,
   liveliness::NodeInfo node_info,
   std::size_t node_id,
@@ -78,8 +78,8 @@ std::shared_ptr<PublisherData> PublisherData::make(
     });
 
   std::size_t domain_id = node_info.domain_id_;
-  auto entity = liveliness::Entity::make(
-    z_info_zid(session),
+  auto entity = liveliness::Entity::make_cpp(
+    session->get_zid(),
     std::to_string(node_id),
     std::to_string(publisher_id),
     liveliness::EntityType::Publisher,
@@ -132,7 +132,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
 
     ze_owned_publication_cache_t pub_cache_;
     if (ze_declare_publication_cache(
-        session, &pub_cache_, z_loan(pub_ke), &pub_cache_opts))
+        z_loan(session->_0), &pub_cache_, z_loan(pub_ke), &pub_cache_opts))
     {
       RMW_SET_ERROR_MSG("unable to create zenoh publisher cache");
       return nullptr;
@@ -159,31 +159,44 @@ std::shared_ptr<PublisherData> PublisherData::make(
       z_undeclare_publisher(z_move(pub));
     });
   if (z_declare_publisher(
-      session, &pub, z_loan(pub_ke), &opts) != Z_OK)
+      z_loan(session->_0), &pub, z_loan(pub_ke), &opts) != Z_OK)
   {
     RMW_SET_ERROR_MSG("Unable to create Zenoh publisher.");
     return nullptr;
   }
 
   std::string liveliness_keyexpr = entity->liveliness_keyexpr();
-  z_view_keyexpr_t liveliness_ke;
-  z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
-  zc_owned_liveliness_token_t token;
-  auto free_token = rcpputils::make_scope_exit(
-    [&token]() {
-      z_drop(z_move(token));
-    });
-  if (zc_liveliness_declare_token(
-      session, &token, z_loan(liveliness_ke),
-      NULL) != Z_OK)
+  zenoh::ZResult err;
+  auto token = session->liveliness_declare_token(
+    zenoh::KeyExpr(liveliness_keyexpr),
+    zenoh::Session::LivelinessDeclarationOptions::create_default(),
+    &err);
+
+  if (err != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
-      "rmw_zenoh_cpp",
-      "Unable to create liveliness token for the publisher.");
+        "rmw_zenoh_cpp",
+        "Unable to create liveliness token for the client.");
     return nullptr;
   }
-
-  free_token.cancel();
+  // z_view_keyexpr_t liveliness_ke;
+  // z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
+  // zc_owned_liveliness_token_t token;
+  // auto free_token = rcpputils::make_scope_exit(
+  //   [&token]() {
+  //     z_drop(z_move(token));
+  //   });
+  // if (zc_liveliness_declare_token(
+  //     session, &token, z_loan(liveliness_ke),
+  //     NULL) != Z_OK)
+  // {
+  //   RMW_ZENOH_LOG_ERROR_NAMED(
+  //     "rmw_zenoh_cpp",
+  //     "Unable to create liveliness token for the publisher.");
+  //   return nullptr;
+  // }
+
+  // free_token.cancel();
   undeclare_z_publisher_cache.cancel();
   undeclare_z_publisher.cancel();
 
@@ -205,7 +218,7 @@ PublisherData::PublisherData(
   std::shared_ptr<liveliness::Entity> entity,
   z_owned_publisher_t pub,
   std::optional<ze_owned_publication_cache_t> pub_cache,
-  zc_owned_liveliness_token_t token,
+  zenoh::LivelinessToken token,
   const void * type_support_impl,
   std::unique_ptr<MessageTypeSupport> type_support)
 : rmw_node_(rmw_node),
@@ -455,7 +468,7 @@ rmw_ret_t PublisherData::shutdown()
   }
 
   // Unregister this publisher from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  // zc_liveliness_undeclare_token(z_move(token_));
   if (pub_cache_.has_value()) {
     z_drop(z_move(pub_cache_.value()));
   }
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
index eca222b7..4e537df0 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
@@ -39,7 +39,7 @@ class PublisherData final
 public:
   // Make a shared_ptr of PublisherData.
   static std::shared_ptr<PublisherData> make(
-    const z_loaned_session_t * session,
+    const std::shared_ptr<zenoh::Session> & session,
     const rmw_node_t * const node,
     liveliness::NodeInfo node_info,
     std::size_t node_id,
@@ -92,7 +92,7 @@ class PublisherData final
     std::shared_ptr<liveliness::Entity> entity,
     z_owned_publisher_t pub,
     std::optional<ze_owned_publication_cache_t> pub_cache,
-    zc_owned_liveliness_token_t token,
+    zenoh::LivelinessToken token,
     const void * type_support_impl,
     std::unique_ptr<MessageTypeSupport> type_support);
 
@@ -107,7 +107,7 @@ class PublisherData final
   // Optional publication cache when durability is transient_local.
   std::optional<ze_owned_publication_cache_t> pub_cache_;
   // Liveliness token for the publisher.
-  zc_owned_liveliness_token_t token_;
+  std::optional<zenoh::LivelinessToken> token_;
   // Type support fields
   const void * type_support_impl_;
   std::unique_ptr<MessageTypeSupport> type_support_;
diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
index 5cb53d58..66721511 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
@@ -32,6 +32,8 @@
 
 #include "rmw/error_handling.h"
 
+#include <zenoh/api/session.hxx>
+
 namespace rmw_zenoh_cpp
 {
 ///==============================================================================
@@ -59,7 +61,7 @@ void service_data_handler(z_loaned_query_t * query, void * data)
 
 ///=============================================================================
 std::shared_ptr<ServiceData> ServiceData::make(
-  const z_loaned_session_t * session,
+  const std::shared_ptr<zenoh::Session> & session,
   const rmw_node_t * const node,
   liveliness::NodeInfo node_info,
   std::size_t node_id,
@@ -119,8 +121,8 @@ std::shared_ptr<ServiceData> ServiceData::make(
     });
 
   std::size_t domain_id = node_info.domain_id_;
-  auto entity = liveliness::Entity::make(
-    z_info_zid(session),
+  auto entity = liveliness::Entity::make_cpp(
+    session->get_zid(),
     std::to_string(node_id),
     std::to_string(service_id),
     liveliness::EntityType::Service,
@@ -170,7 +172,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
       z_undeclare_queryable(z_move(service_data->qable_));
     });
   if (z_declare_queryable(
-      session, &service_data->qable_, z_loan(service_ke),
+      z_loan(session->_0), &service_data->qable_, z_loan(service_ke),
       z_move(callback), &qable_options) != Z_OK)
   {
     RMW_SET_ERROR_MSG("unable to create zenoh queryable");
@@ -178,29 +180,42 @@ std::shared_ptr<ServiceData> ServiceData::make(
   }
 
   std::string liveliness_keyexpr = service_data->entity_->liveliness_keyexpr();
-  z_view_keyexpr_t liveliness_ke;
-  if (z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str()) != Z_OK) {
-    RMW_SET_ERROR_MSG("unable to create zenoh keyexpr.");
-    return nullptr;
-  }
-  auto free_token = rcpputils::make_scope_exit(
-    [service_data]() {
-      if (service_data != nullptr) {
-        z_drop(z_move(service_data->token_));
-      }
-    });
-  if (zc_liveliness_declare_token(
-      session, &service_data->token_, z_loan(liveliness_ke),
-      NULL) != Z_OK)
+  // z_view_keyexpr_t liveliness_ke;
+  // if (z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str()) != Z_OK) {
+  //   RMW_SET_ERROR_MSG("unable to create zenoh keyexpr.");
+  //   return nullptr;
+  // }
+  // auto free_token = rcpputils::make_scope_exit(
+  //   [service_data]() {
+  //     if (service_data != nullptr) {
+  //       z_drop(z_move(service_data->token_));
+  //     }
+  //   });
+  // if (zc_liveliness_declare_token(
+  //     session, &service_data->token_, z_loan(liveliness_ke),
+  //     NULL) != Z_OK)
+  // {
+  //   RMW_ZENOH_LOG_ERROR_NAMED(
+  //     "rmw_zenoh_cpp",
+  //     "Unable to create liveliness token for the service.");
+  //   return nullptr;
+  // }
+  zenoh::ZResult err;
+  service_data->token_ = session->liveliness_declare_token(
+    zenoh::KeyExpr(liveliness_keyexpr),
+    zenoh::Session::LivelinessDeclarationOptions::create_default(),
+    &err);
+
+  if (err != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
-      "rmw_zenoh_cpp",
-      "Unable to create liveliness token for the service.");
+        "rmw_zenoh_cpp",
+        "Unable to create liveliness token for the service.");
     return nullptr;
   }
 
   undeclare_z_queryable.cancel();
-  free_token.cancel();
+  // free_token.cancel();
 
   return service_data;
 }
@@ -492,7 +507,7 @@ rmw_ret_t ServiceData::shutdown()
   }
 
   // Unregister this node from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  // zc_liveliness_undeclare_token(z_move(token_));
   z_undeclare_queryable(z_move(qable_));
 
   is_shutdown_ = true;
diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
index cddaff88..1384c0a7 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
@@ -39,6 +39,9 @@
 #include "rmw/rmw.h"
 #include "rmw/ret_types.h"
 
+#include <zenoh.hxx>
+#include <zenoh/api/session.hxx>
+
 namespace rmw_zenoh_cpp
 {
 
@@ -48,7 +51,7 @@ class ServiceData final
 public:
   // Make a shared_ptr of ServiceData.
   static std::shared_ptr<ServiceData> make(
-    const z_loaned_session_t * session,
+    const std::shared_ptr<zenoh::Session> & session,
     const rmw_node_t * const node,
     liveliness::NodeInfo node_info,
     std::size_t node_id,
@@ -113,7 +116,7 @@ class ServiceData final
   // An owned queryable.
   z_owned_queryable_t qable_;
   // Liveliness token for the service.
-  zc_owned_liveliness_token_t token_;
+  std::optional<zenoh::LivelinessToken> token_;
   // Type support fields.
   const void * request_type_support_impl_;
   const void * response_type_support_impl_;
diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
index 8d2c8805..9658a5c1 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
@@ -91,7 +91,7 @@ SubscriptionData::Message::~Message()
 
 ///=============================================================================
 std::shared_ptr<SubscriptionData> SubscriptionData::make(
-  const z_loaned_session_t * session,
+  const std::shared_ptr<zenoh::Session> & session,
   std::shared_ptr<GraphCache> graph_cache,
   const rmw_node_t * const node,
   liveliness::NodeInfo node_info,
@@ -132,8 +132,8 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
   // Everything above succeeded and is setup properly. Now declare a subscriber
   // with Zenoh; after this, callbacks may come in at any time.
   std::size_t domain_id = node_info.domain_id_;
-  auto entity = liveliness::Entity::make(
-    z_info_zid(session),
+  auto entity = liveliness::Entity::make_cpp(
+    session->get_zid(),
     std::to_string(node_id),
     std::to_string(subscription_id),
     liveliness::EntityType::Subscription,
@@ -320,24 +320,39 @@ bool SubscriptionData::init()
 
   // Publish to the graph that a new subscription is in town.
   std::string liveliness_keyexpr = entity_->liveliness_keyexpr();
-  z_view_keyexpr_t liveliness_ke;
-  z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
-
-  auto free_token = rcpputils::make_scope_exit(
-    [this]() {
-      z_drop(z_move(token_));
-    });
-  if (zc_liveliness_declare_token(
-      context_impl->session(), &token_, z_loan(liveliness_ke), NULL) != Z_OK)
+  // z_view_keyexpr_t liveliness_ke;
+  // z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
+
+  // auto free_token = rcpputils::make_scope_exit(
+  //   [this]() {
+  //     z_drop(z_move(token_));
+  //   });
+  // if (zc_liveliness_declare_token(
+  //     context_impl->session(), &token_, z_loan(liveliness_ke), NULL) != Z_OK)
+  // {
+  //   RMW_ZENOH_LOG_ERROR_NAMED(
+  //     "rmw_zenoh_cpp",
+  //     "Unable to create liveliness token for the subscription.");
+  //   return false;
+  // }
+
+  // Create the liveliness token.
+  zenoh::ZResult err;
+  token_ = context_impl->session_cpp()->liveliness_declare_token(
+    zenoh::KeyExpr(liveliness_keyexpr),
+    zenoh::Session::LivelinessDeclarationOptions::create_default(),
+    &err);
+
+  if (err != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
-      "rmw_zenoh_cpp",
-      "Unable to create liveliness token for the subscription.");
+        "rmw_zenoh_cpp",
+        "Unable to create liveliness token for the subscription.");
     return false;
   }
 
   undeclare_z_sub.cancel();
-  free_token.cancel();
+  // free_token.cancel();
 
   initialized_ = true;
 
@@ -396,7 +411,7 @@ rmw_ret_t SubscriptionData::shutdown()
   graph_cache_->remove_qos_event_callbacks(entity_->keyexpr_hash());
 
   // Unregister this subscription from the ROS graph.
-  zc_liveliness_undeclare_token(z_move(token_));
+  // zc_liveliness_undeclare_token(z_move(token_));
 
   z_owned_subscriber_t * sub = std::get_if<z_owned_subscriber_t>(&sub_);
   if (sub != nullptr) {
diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp
index 4f864994..03bbebba 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp
@@ -41,6 +41,8 @@
 #include "rmw/rmw.h"
 #include "rmw/ret_types.h"
 
+#include <zenoh.hxx>
+
 namespace rmw_zenoh_cpp
 {
 ///=============================================================================
@@ -63,7 +65,7 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
 
   // Make a shared_ptr of SubscriptionData.
   static std::shared_ptr<SubscriptionData> make(
-    const z_loaned_session_t * session,
+    const std::shared_ptr<zenoh::Session> & session,
     std::shared_ptr<GraphCache> graph_cache,
     const rmw_node_t * const node,
     liveliness::NodeInfo node_info,
@@ -143,7 +145,7 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
   // An owned subscriber or querying_subscriber depending on the QoS settings.
   std::variant<z_owned_subscriber_t, ze_owned_querying_subscriber_t> sub_;
   // Liveliness token for the subscription.
-  zc_owned_liveliness_token_t token_;
+  std::optional<zenoh::LivelinessToken> token_;
   // Type support fields
   const void * type_support_impl_;
   std::unique_ptr<MessageTypeSupport> type_support_;
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 5088980b..0d30ac8d 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -421,7 +421,7 @@ rmw_create_publisher(
 
   if (!node_data->create_pub_data(
       rmw_publisher,
-      context_impl->session(),
+      context_impl->session_cpp(),
       context_impl->get_next_entity_id(),
       topic_name,
       type_support,
@@ -953,7 +953,7 @@ rmw_create_subscription(
 
   if (!node_data->create_sub_data(
       rmw_subscription,
-      context_impl->session(),
+      context_impl->session_cpp(),
       context_impl->graph_cache(),
       context_impl->get_next_entity_id(),
       topic_name,
@@ -2007,7 +2007,7 @@ rmw_create_service(
 
   if (!node_data->create_service_data(
       rmw_service,
-      context_impl->session(),
+      context_impl->session_cpp(),
       context_impl->get_next_entity_id(),
       service_name,
       type_support,