diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
index a95c98a2..c3042007 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -105,7 +105,7 @@ namespace rmw_zenoh_cpp
 {
 ///=============================================================================
 std::shared_ptr<ClientData> ClientData::make(
-  const z_loaned_session_t * session,
+  std::shared_ptr<ZenohSession> session,
   const rmw_node_t * const node,
   const rmw_client_t * client,
   liveliness::NodeInfo node_info,
@@ -167,7 +167,7 @@ std::shared_ptr<ClientData> ClientData::make(
 
   std::size_t domain_id = node_info.domain_id_;
   auto entity = liveliness::Entity::make(
-    z_info_zid(session),
+    z_info_zid(session->loan()),
     std::to_string(node_id),
     std::to_string(service_id),
     liveliness::EntityType::Client,
@@ -192,6 +192,7 @@ std::shared_ptr<ClientData> ClientData::make(
       node,
       client,
       entity,
+      session,
       request_members,
       response_members,
       request_type_support,
@@ -211,6 +212,7 @@ ClientData::ClientData(
   const rmw_node_t * rmw_node,
   const rmw_client_t * rmw_client,
   std::shared_ptr<liveliness::Entity> entity,
+  std::shared_ptr<ZenohSession> sess,
   const void * request_type_support_impl,
   const void * response_type_support_impl,
   std::shared_ptr<RequestTypeSupport> request_type_support,
@@ -218,6 +220,7 @@ ClientData::ClientData(
 : rmw_node_(rmw_node),
   rmw_client_(rmw_client),
   entity_(std::move(entity)),
+  sess_(std::move(sess)),
   request_type_support_impl_(request_type_support_impl),
   response_type_support_impl_(response_type_support_impl),
   request_type_support_(request_type_support),
@@ -232,7 +235,7 @@ ClientData::ClientData(
 }
 
 ///=============================================================================
-bool ClientData::init(const z_loaned_session_t * session)
+bool ClientData::init(std::shared_ptr<ZenohSession> session)
 {
   if (z_keyexpr_from_str(
     &this->keyexpr_,
@@ -250,7 +253,7 @@ bool ClientData::init(const z_loaned_session_t * session)
   z_view_keyexpr_t liveliness_ke;
   z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
   if (z_liveliness_declare_token(
-      session,
+      session->loan(),
       &this->token_,
       z_loan(liveliness_ke),
       NULL
@@ -406,6 +409,7 @@ rmw_ret_t ClientData::send_request(
   if (context_impl == nullptr) {
     return RMW_RET_INVALID_ARGUMENT;
   }
+  sess_ = context_impl->session();
 
   size_t max_data_length = (
     request_type_support_->get_estimated_serialized_size(
@@ -470,7 +474,7 @@ rmw_ret_t ClientData::send_request(
   z_owned_closure_reply_t zn_closure_reply;
   z_closure(&zn_closure_reply, client_data_handler, client_data_drop, this);
   z_get(
-    context_impl->session(),
+    sess_->loan(),
     z_loan(keyexpr_), "",
     z_move(zn_closure_reply),
     &opts);
@@ -535,6 +539,7 @@ void ClientData::_shutdown()
     z_drop(z_move(keyexpr_));
   }
 
+  sess_.reset();
   is_shutdown_ = true;
 }
 
diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp
index bc737435..349a26db 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp
@@ -47,7 +47,7 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
 public:
   // Make a shared_ptr of ClientData.
   static std::shared_ptr<ClientData> make(
-    const z_loaned_session_t * session,
+    std::shared_ptr<ZenohSession> session,
     const rmw_node_t * const node,
     const rmw_client_t * client,
     liveliness::NodeInfo node_info,
@@ -113,13 +113,14 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
     const rmw_node_t * rmw_node,
     const rmw_client_t * client,
     std::shared_ptr<liveliness::Entity> entity,
+    std::shared_ptr<ZenohSession> sess,
     const void * request_type_support_impl,
     const void * response_type_support_impl,
     std::shared_ptr<RequestTypeSupport> request_type_support,
     std::shared_ptr<ResponseTypeSupport> response_type_support);
 
   // Initialize the Zenoh objects for this entity.
-  bool init(const z_loaned_session_t * session);
+  bool init(std::shared_ptr<ZenohSession> session);
 
   // Shutdown this client (the mutex is expected to be held by the caller).
   void _shutdown();
@@ -131,6 +132,8 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   const rmw_client_t * rmw_client_;
   // The Entity generated for the service.
   std::shared_ptr<liveliness::Entity> entity_;
+  // A shared session.
+  std::shared_ptr<ZenohSession> sess_;
   // An owned keyexpression.
   z_owned_keyexpr_t keyexpr_;
   // Liveliness token for the service.
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 9458eb45..a2c98b93 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.cpp
@@ -36,6 +36,7 @@
 
 #include "rcpputils/scope_exit.hpp"
 #include "rmw/error_handling.h"
+#include "zenoh_utils.hpp"
 
 // Megabytes of SHM to reserve.
 // TODO(clalancette): Make this configurable, or get it from the configuration
@@ -86,13 +87,18 @@ class rmw_context_impl_s::Data final
       });
 
     // Initialize the zenoh session.
-    if (z_open(&session_, z_move(config), NULL) != Z_OK) {
+    z_owned_session_t raw_session;
+    if (z_open(&raw_session, z_move(config), NULL) != Z_OK) {
       RMW_SET_ERROR_MSG("Error setting up zenoh session.");
       throw std::runtime_error("Error setting up zenoh session.");
     }
+    if (session_ != nullptr) {
+      session_.reset();
+    }
+    session_ = std::make_shared<rmw_zenoh_cpp::ZenohSession>(raw_session);
     auto close_session = rcpputils::make_scope_exit(
-      [this]() {
-        z_close(z_loan_mut(session_), NULL);
+      [&raw_session]() {
+        z_close(z_loan_mut(raw_session), NULL);
       });
 
     // Verify if the zenoh router is running if configured.
@@ -102,7 +108,7 @@ class rmw_context_impl_s::Data final
       uint64_t connection_attempts = 0;
       constexpr std::chrono::milliseconds sleep_time(1000);
       constexpr int64_t ticks_between_print(std::chrono::milliseconds(1000) / sleep_time);
-      while ((ret = rmw_zenoh_cpp::zenoh_router_check(z_loan(session_))) != RMW_RET_OK) {
+      while ((ret = rmw_zenoh_cpp::zenoh_router_check(session_->loan())) != RMW_RET_OK) {
         if ((connection_attempts % ticks_between_print) == 0) {
           RMW_ZENOH_LOG_WARN_NAMED(
             "rmw_zenoh_cpp",
@@ -117,7 +123,7 @@ class rmw_context_impl_s::Data final
     }
 
     // Initialize the graph cache.
-    const z_id_t zid = z_info_zid(z_loan(session_));
+    const z_id_t zid = z_info_zid(session_->loan());
     graph_cache_ = std::make_shared<rmw_zenoh_cpp::GraphCache>(zid);
     // Setup liveliness subscriptions for discovery.
     std::string liveliness_str = rmw_zenoh_cpp::liveliness::subscription_token(domain_id);
@@ -144,7 +150,7 @@ class rmw_context_impl_s::Data final
     z_view_keyexpr_t keyexpr;
     z_view_keyexpr_from_str(&keyexpr, liveliness_str.c_str());
     z_liveliness_get(
-      z_loan(session_), z_loan(keyexpr),
+      session_->loan(), z_loan(keyexpr),
       z_move(closure), NULL);
     z_owned_reply_t reply;
     while (z_recv(z_loan(handler), &reply) == Z_OK) {
@@ -203,7 +209,7 @@ class rmw_context_impl_s::Data final
     z_view_keyexpr_t liveliness_ke;
     z_view_keyexpr_from_str(&liveliness_ke, liveliness_str.c_str());
     if (z_liveliness_declare_subscriber(
-        z_loan(session_),
+        session_->loan(),
         &graph_subscriber_, z_loan(liveliness_ke),
         z_move(callback), &sub_options) != Z_OK)
     {
@@ -240,11 +246,8 @@ class rmw_context_impl_s::Data final
       // to avoid an AB/BA deadlock if shutdown is racing with graph_sub_data_handler().
     }
 
-    // Close the zenoh session
-    if (z_close(z_loan_mut(session_), NULL) != Z_OK) {
-      RMW_SET_ERROR_MSG("Error while closing zenoh session");
-      return RMW_RET_ERROR;
-    }
+    // Drop the shared session.
+    session_.reset();
 
     return RMW_RET_OK;
   }
@@ -255,10 +258,10 @@ class rmw_context_impl_s::Data final
     return enclave_;
   }
 
-  const z_loaned_session_t * session() const
+  std::shared_ptr<rmw_zenoh_cpp::ZenohSession> session() const
   {
     std::lock_guard<std::recursive_mutex> lock(mutex_);
-    return z_loan(session_);
+    return session_;
   }
 
   std::optional<z_owned_shm_provider_t> & shm_provider()
@@ -288,7 +291,7 @@ class rmw_context_impl_s::Data final
   bool session_is_valid() const
   {
     std::lock_guard<std::recursive_mutex> lock(mutex_);
-    return !z_session_is_closed(z_loan(session_));
+    return !z_session_is_closed(session_->loan());
   }
 
   std::shared_ptr<rmw_zenoh_cpp::GraphCache> graph_cache()
@@ -319,7 +322,7 @@ class rmw_context_impl_s::Data final
     auto node_data = rmw_zenoh_cpp::NodeData::make(
       node,
       this->get_next_entity_id(),
-      z_loan(session_),
+      session_->loan(),
       domain_id_,
       ns,
       node_name,
@@ -395,8 +398,8 @@ class rmw_context_impl_s::Data final
   std::size_t domain_id_;
   // Enclave, name used to find security artifacts in a sros2 keystore.
   std::string enclave_;
-  // An owned session.
-  z_owned_session_t session_;
+  // A shared session.
+  std::shared_ptr<rmw_zenoh_cpp::ZenohSession> session_{nullptr};
   // An optional SHM manager that is initialized of SHM is enabled in the
   // zenoh session config.
   std::optional<z_owned_shm_provider_t> shm_provider_;
@@ -472,7 +475,7 @@ std::string rmw_context_impl_s::enclave() const
 }
 
 ///=============================================================================
-const z_loaned_session_t * rmw_context_impl_s::session() const
+std::shared_ptr<rmw_zenoh_cpp::ZenohSession> rmw_context_impl_s::session() const
 {
   return data_->session();
 }
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 1e46d6af..ea66e0c3 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_context_impl_s.hpp
@@ -47,8 +47,8 @@ class rmw_context_impl_s final
   // Get a copy of the enclave.
   std::string enclave() const;
 
-  // Loan the Zenoh session.
-  const z_loaned_session_t * session() const;
+  // Share the Zenoh session.
+  std::shared_ptr<rmw_zenoh_cpp::ZenohSession> session() const;
 
   // Get a reference to the shm_provider.
   // Note: This is not thread-safe.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
index cb4817a5..1255de21 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.cpp
@@ -121,7 +121,7 @@ std::size_t NodeData::id() const
 ///=============================================================================
 bool NodeData::create_pub_data(
   const rmw_publisher_t * const publisher,
-  const z_loaned_session_t * session,
+  std::shared_ptr<ZenohSession> session,
   std::size_t id,
   const std::string & topic_name,
   const rosidl_message_type_support_t * type_support,
@@ -187,7 +187,7 @@ 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,
+  std::shared_ptr<ZenohSession> session,
   std::shared_ptr<GraphCache> graph_cache,
   std::size_t id,
   const std::string & topic_name,
@@ -255,7 +255,7 @@ 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,
+  std::shared_ptr<ZenohSession> session,
   std::size_t id,
   const std::string & service_name,
   const rosidl_service_type_support_t * type_supports,
@@ -322,7 +322,7 @@ void NodeData::delete_service_data(const rmw_service_t * const service)
 ///=============================================================================
 bool NodeData::create_client_data(
   const rmw_client_t * const client,
-  const z_loaned_session_t * session,
+  std::shared_ptr<ZenohSession> session,
   std::size_t id,
   const std::string & service_name,
   const rosidl_service_type_support_t * type_supports,
diff --git a/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp
index ab17e096..4429b589 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_node_data.hpp
@@ -55,7 +55,7 @@ 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,
+    std::shared_ptr<ZenohSession> sess,
     std::size_t id,
     const std::string & topic_name,
     const rosidl_message_type_support_t * type_support,
@@ -70,7 +70,7 @@ 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,
+    std::shared_ptr<ZenohSession> sess,
     std::shared_ptr<GraphCache> graph_cache,
     std::size_t id,
     const std::string & topic_name,
@@ -86,7 +86,7 @@ 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,
+    std::shared_ptr<ZenohSession> session,
     std::size_t id,
     const std::string & service_name,
     const rosidl_service_type_support_t * type_support,
@@ -101,7 +101,7 @@ class NodeData final
   // Create a new ClientData for a given rmw_client_t.
   bool create_client_data(
     const rmw_client_t * const client,
-    const z_loaned_session_t * session,
+    std::shared_ptr<ZenohSession> session,
     std::size_t id,
     const std::string & service_name,
     const rosidl_service_type_support_t * type_support,
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
index d1449b63..32f1dbc1 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -15,6 +15,7 @@
 #include "rmw_publisher_data.hpp"
 
 #include <fastcdr/FastBuffer.h>
+#include <zenoh.h>
 
 #include <cinttypes>
 #include <memory>
@@ -42,7 +43,7 @@ namespace rmw_zenoh_cpp
 
 ///=============================================================================
 std::shared_ptr<PublisherData> PublisherData::make(
-  const z_loaned_session_t * session,
+  std::shared_ptr<ZenohSession> session,
   const rmw_node_t * const node,
   liveliness::NodeInfo node_info,
   std::size_t node_id,
@@ -82,7 +83,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
 
   std::size_t domain_id = node_info.domain_id_;
   auto entity = liveliness::Entity::make(
-    z_info_zid(session),
+    z_info_zid(session->loan()),
     std::to_string(node_id),
     std::to_string(publisher_id),
     liveliness::EntityType::Publisher,
@@ -129,7 +130,7 @@ 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))
+        session->loan(), &pub_cache_, z_loan(pub_ke), &pub_cache_opts))
     {
       RMW_SET_ERROR_MSG("unable to create zenoh publisher cache");
       return nullptr;
@@ -158,7 +159,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
   z_owned_publisher_t pub;
   // TODO(clalancette): What happens if the key name is a valid but empty string?
   if (z_declare_publisher(
-      session, &pub, z_loan(pub_ke), &opts) != Z_OK)
+      session->loan(), &pub, z_loan(pub_ke), &opts) != Z_OK)
   {
     RMW_SET_ERROR_MSG("Unable to create Zenoh publisher.");
     return nullptr;
@@ -173,7 +174,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
   z_view_keyexpr_from_str(&liveliness_ke, liveliness_keyexpr.c_str());
   z_owned_liveliness_token_t token;
   if (z_liveliness_declare_token(
-      session, &token, z_loan(liveliness_ke),
+      session->loan(), &token, z_loan(liveliness_ke),
       NULL) != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
@@ -194,6 +195,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
     new PublisherData{
       node,
       std::move(entity),
+      std::move(session),
       std::move(pub),
       std::move(pub_cache),
       std::move(token),
@@ -206,6 +208,7 @@ std::shared_ptr<PublisherData> PublisherData::make(
 PublisherData::PublisherData(
   const rmw_node_t * rmw_node,
   std::shared_ptr<liveliness::Entity> entity,
+  std::shared_ptr<ZenohSession> sess,
   z_owned_publisher_t pub,
   std::optional<ze_owned_publication_cache_t> pub_cache,
   z_owned_liveliness_token_t token,
@@ -213,6 +216,7 @@ PublisherData::PublisherData(
   std::unique_ptr<MessageTypeSupport> type_support)
 : rmw_node_(rmw_node),
   entity_(std::move(entity)),
+  sess_(std::move(sess)),
   pub_(std::move(pub)),
   pub_cache_(std::move(pub_cache)),
   token_(std::move(token)),
@@ -438,11 +442,16 @@ rmw_ret_t PublisherData::shutdown()
 
   // Unregister this publisher from the ROS graph.
   z_liveliness_undeclare_token(z_move(token_));
+  // if (pub_cache_.has_value() && !z_session_is_closed(z_loan(sess_))) {
   if (pub_cache_.has_value()) {
-    z_drop(z_move(pub_cache_.value()));
+    ze_undeclare_publication_cache(z_move(pub_cache_.value()));
+    // if (z_session_is_closed(z_loan(sess_))) {
+    //   z_drop(z_move(pub_cache_.value()));
+    // }
   }
   z_undeclare_publisher(z_move(pub_));
 
+  sess_.reset();
   is_shutdown_ = true;
   return RMW_RET_OK;
 }
diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
index bde0c13b..1853ff8a 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
@@ -28,6 +28,7 @@
 #include "liveliness_utils.hpp"
 #include "message_type_support.hpp"
 #include "type_support_common.hpp"
+#include "zenoh_utils.hpp"
 
 #include "rcutils/allocator.h"
 
@@ -42,7 +43,7 @@ class PublisherData final
 public:
   // Make a shared_ptr of PublisherData.
   static std::shared_ptr<PublisherData> make(
-    const z_loaned_session_t * session,
+    std::shared_ptr<ZenohSession> session,
     const rmw_node_t * const node,
     liveliness::NodeInfo node_info,
     std::size_t node_id,
@@ -90,6 +91,7 @@ class PublisherData final
   PublisherData(
     const rmw_node_t * rmw_node,
     std::shared_ptr<liveliness::Entity> entity,
+    std::shared_ptr<ZenohSession> sess,
     z_owned_publisher_t pub,
     std::optional<ze_owned_publication_cache_t> pub_cache,
     z_owned_liveliness_token_t token,
@@ -102,6 +104,8 @@ class PublisherData final
   const rmw_node_t * rmw_node_;
   // The Entity generated for the publisher.
   std::shared_ptr<liveliness::Entity> entity_;
+  // A shared session.
+  std::shared_ptr<ZenohSession> sess_;
   // An owned publisher.
   z_owned_publisher_t pub_;
   // Optional publication cache when durability is transient_local.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
index c7be982c..3d456a02 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_service_data.cpp
@@ -65,7 +65,7 @@ void service_data_handler(z_loaned_query_t * query, void * data)
 
 ///=============================================================================
 std::shared_ptr<ServiceData> ServiceData::make(
-  const z_loaned_session_t * session,
+  std::shared_ptr<ZenohSession> session,
   const rmw_node_t * const node,
   liveliness::NodeInfo node_info,
   std::size_t node_id,
@@ -126,7 +126,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
 
   std::size_t domain_id = node_info.domain_id_;
   auto entity = liveliness::Entity::make(
-    z_info_zid(session),
+    z_info_zid(session->loan()),
     std::to_string(node_id),
     std::to_string(service_id),
     liveliness::EntityType::Service,
@@ -150,6 +150,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
     new ServiceData{
       node,
       std::move(entity),
+      session,
       request_members,
       response_members,
       std::move(request_type_support),
@@ -180,7 +181,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
   z_queryable_options_default(&qable_options);
   qable_options.complete = true;
   if (z_declare_queryable(
-      session, &service_data->qable_, z_loan(service_data->keyexpr_),
+      session->loan(), &service_data->qable_, z_loan(service_data->keyexpr_),
       z_move(callback), &qable_options) != Z_OK)
   {
     RMW_SET_ERROR_MSG("unable to create zenoh queryable");
@@ -206,7 +207,7 @@ std::shared_ptr<ServiceData> ServiceData::make(
       }
     });
   if (z_liveliness_declare_token(
-      session, &service_data->token_, z_loan(liveliness_ke),
+      session->loan(), &service_data->token_, z_loan(liveliness_ke),
       NULL) != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
@@ -228,12 +229,14 @@ std::shared_ptr<ServiceData> ServiceData::make(
 ServiceData::ServiceData(
   const rmw_node_t * rmw_node,
   std::shared_ptr<liveliness::Entity> entity,
+  std::shared_ptr<ZenohSession> sess,
   const void * request_type_support_impl,
   const void * response_type_support_impl,
   std::unique_ptr<RequestTypeSupport> request_type_support,
   std::unique_ptr<ResponseTypeSupport> response_type_support)
 : rmw_node_(rmw_node),
   entity_(std::move(entity)),
+  sess_(std::move(sess)),
   request_type_support_impl_(request_type_support_impl),
   response_type_support_impl_(response_type_support_impl),
   request_type_support_(std::move(request_type_support)),
@@ -526,6 +529,7 @@ rmw_ret_t ServiceData::shutdown()
     z_undeclare_queryable(z_move(qable_));
   }
 
+  sess_.reset();
   is_shutdown_ = true;
   return RMW_RET_OK;
 }
diff --git a/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
index 75467494..a8bcbd66 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_service_data.hpp
@@ -47,7 +47,7 @@ class ServiceData final
 public:
   // Make a shared_ptr of ServiceData.
   static std::shared_ptr<ServiceData> make(
-    const z_loaned_session_t * session,
+    std::shared_ptr<ZenohSession> session,
     const rmw_node_t * const node,
     liveliness::NodeInfo node_info,
     std::size_t node_id,
@@ -99,6 +99,7 @@ class ServiceData final
   ServiceData(
     const rmw_node_t * rmw_node,
     std::shared_ptr<liveliness::Entity> entity,
+    std::shared_ptr<ZenohSession> sess,
     const void * request_type_support_impl,
     const void * response_type_support_impl,
     std::unique_ptr<RequestTypeSupport> request_type_support,
@@ -112,6 +113,8 @@ class ServiceData final
   std::shared_ptr<liveliness::Entity> entity_;
   // An owned keyexpression.
   z_owned_keyexpr_t keyexpr_;
+  // A shared session.
+  std::shared_ptr<ZenohSession> sess_;
   // An owned queryable.
   z_owned_queryable_t qable_;
   // Liveliness token for the service.
diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
index f0036606..4f21300b 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.cpp
@@ -94,7 +94,7 @@ SubscriptionData::Message::~Message()
 
 ///=============================================================================
 std::shared_ptr<SubscriptionData> SubscriptionData::make(
-  const z_loaned_session_t * session,
+  std::shared_ptr<ZenohSession> session,
   std::shared_ptr<GraphCache> graph_cache,
   const rmw_node_t * const node,
   liveliness::NodeInfo node_info,
@@ -136,7 +136,7 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
   // 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),
+    z_info_zid(session->loan()),
     std::to_string(node_id),
     std::to_string(subscription_id),
     liveliness::EntityType::Subscription,
@@ -161,6 +161,7 @@ std::shared_ptr<SubscriptionData> SubscriptionData::make(
       node,
       graph_cache,
       std::move(entity),
+      std::move(session),
       type_support->data,
       std::move(message_type_support)
     });
@@ -178,11 +179,13 @@ SubscriptionData::SubscriptionData(
   const rmw_node_t * rmw_node,
   std::shared_ptr<GraphCache> graph_cache,
   std::shared_ptr<liveliness::Entity> entity,
+  std::shared_ptr<ZenohSession> sess,
   const void * type_support_impl,
   std::unique_ptr<MessageTypeSupport> type_support)
 : rmw_node_(rmw_node),
   graph_cache_(std::move(graph_cache)),
   entity_(std::move(entity)),
+  sess_(std::move(sess)),
   type_support_impl_(type_support_impl),
   type_support_(std::move(type_support)),
   last_known_published_msg_({}),
@@ -212,6 +215,8 @@ bool SubscriptionData::init()
 
   rmw_context_impl_t * context_impl = static_cast<rmw_context_impl_t *>(rmw_node_->context->impl);
 
+  sess_ = context_impl->session();
+
   // Instantiate the subscription with suitable options depending on the
   // adapted_qos_profile.
   // TODO(Yadunund): Rely on a separate function to return the sub
@@ -238,7 +243,7 @@ bool SubscriptionData::init()
     sub_options.query_consolidation = z_query_consolidation_none();
     ze_owned_querying_subscriber_t sub;
     if (ze_declare_querying_subscriber(
-        context_impl->session(), &sub, z_loan(sub_ke), z_move(callback), &sub_options))
+        sess_->loan(), &sub, z_loan(sub_ke), z_move(callback), &sub_options))
     {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
       return false;
@@ -292,7 +297,7 @@ bool SubscriptionData::init()
 
     z_owned_subscriber_t sub;
     if (z_declare_subscriber(
-        context_impl->session(), &sub, z_loan(sub_ke), z_move(callback),
+        sess_->loan(), &sub, z_loan(sub_ke), z_move(callback),
         &sub_options) != Z_OK)
     {
       RMW_SET_ERROR_MSG("unable to create zenoh subscription");
@@ -325,7 +330,7 @@ bool SubscriptionData::init()
       z_drop(z_move(token_));
     });
   if (z_liveliness_declare_token(
-      context_impl->session(), &token_, z_loan(liveliness_ke), NULL) != Z_OK)
+      sess_->loan(), &token_, z_loan(liveliness_ke), NULL) != Z_OK)
   {
     RMW_ZENOH_LOG_ERROR_NAMED(
       "rmw_zenoh_cpp",
@@ -422,6 +427,7 @@ rmw_ret_t SubscriptionData::shutdown()
     }
   }
 
+  sess_.reset();
   is_shutdown_ = true;
   initialized_ = false;
   return ret;
diff --git a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp
index 84d9a488..08a09def 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_subscription_data.hpp
@@ -34,6 +34,7 @@
 #include "message_type_support.hpp"
 #include "attachment_helpers.hpp"
 #include "type_support_common.hpp"
+#include "zenoh_utils.hpp"
 
 #include "rcutils/allocator.h"
 
@@ -62,7 +63,7 @@ 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,
+    std::shared_ptr<ZenohSession> session,
     std::shared_ptr<GraphCache> graph_cache,
     const rmw_node_t * const node,
     liveliness::NodeInfo node_info,
@@ -126,6 +127,7 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
     const rmw_node_t * rmw_node,
     std::shared_ptr<GraphCache> graph_cache,
     std::shared_ptr<liveliness::Entity> entity,
+    std::shared_ptr<ZenohSession> sess,
     const void * type_support_impl,
     std::unique_ptr<MessageTypeSupport> type_support);
 
@@ -139,6 +141,8 @@ class SubscriptionData final : public std::enable_shared_from_this<SubscriptionD
   std::shared_ptr<GraphCache> graph_cache_;
   // The Entity generated for the subscription.
   std::shared_ptr<liveliness::Entity> entity_;
+  // A shared session
+  std::shared_ptr<ZenohSession> sess_;
   // 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.
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
index 77bb4dc2..398587c9 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.cpp
@@ -18,12 +18,27 @@
 #include <cinttypes>
 
 #include "attachment_helpers.hpp"
+#include "logging_macros.hpp"
 #include "rcpputils/scope_exit.hpp"
 
 #include "rmw/error_handling.h"
 
 namespace rmw_zenoh_cpp
 {
+/// Close the zenoh session if destructed.
+///=============================================================================
+const z_loaned_session_t * ZenohSession::loan()
+{
+  return z_loan(inner_);
+}
+
+/// Close the zenoh session if destructed.
+///=============================================================================
+ZenohSession::~ZenohSession()
+{
+  z_close(z_loan_mut(inner_), NULL);
+}
+
 ///=============================================================================
 void create_map_and_set_sequence_num(
   z_owned_bytes_t * out_bytes, int64_t sequence_number, uint8_t gid[RMW_GID_STORAGE_SIZE])
diff --git a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
index 5f569082..ae2aed3a 100644
--- a/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
+++ b/rmw_zenoh_cpp/src/detail/zenoh_utils.hpp
@@ -25,6 +25,21 @@
 
 namespace rmw_zenoh_cpp
 {
+
+/// A wrapped zenoh session with customized destruction.
+///=============================================================================
+class ZenohSession final
+{
+public:
+  ZenohSession(z_owned_session_t sess)
+  : inner_(sess) {}
+  const z_loaned_session_t * loan();
+  ~ZenohSession();
+
+private:
+  z_owned_session_t inner_;
+};
+
 ///=============================================================================
 void
 create_map_and_set_sequence_num(