diff --git a/src/systems/detachable_joint/DetachableJoint.cc b/src/systems/detachable_joint/DetachableJoint.cc
index 93e504758d..517519566a 100644
--- a/src/systems/detachable_joint/DetachableJoint.cc
+++ b/src/systems/detachable_joint/DetachableJoint.cc
@@ -212,6 +212,15 @@ void DetachableJoint::Configure(const Entity &_entity,
   this->validConfig = true;
 }
 
+void DetachableJoint::Reset(const gz::sim::UpdateInfo &/*_info*/,
+   gz::sim::EntityComponentManager &/*_ecm*/)
+{
+  // When the physics engine is resetted the detachable joint is removed
+  // We need to reattach it
+  this->attachRequested = true;
+  this->isAttached = false;
+}
+
 //////////////////////////////////////////////////
 void DetachableJoint::PreUpdate(
   const UpdateInfo &/*_info*/,
@@ -314,9 +323,10 @@ void DetachableJoint::OnDetachRequest(const msgs::Empty &)
 }
 
 GZ_ADD_PLUGIN(DetachableJoint,
-                    System,
-                    DetachableJoint::ISystemConfigure,
-                    DetachableJoint::ISystemPreUpdate)
+              System,
+              DetachableJoint::ISystemConfigure,
+              DetachableJoint::ISystemPreUpdate,
+              DetachableJoint::ISystemReset)
 
 GZ_ADD_PLUGIN_ALIAS(DetachableJoint,
   "gz::sim::systems::DetachableJoint")
diff --git a/src/systems/detachable_joint/DetachableJoint.hh b/src/systems/detachable_joint/DetachableJoint.hh
index e6cb491285..8e5233f411 100644
--- a/src/systems/detachable_joint/DetachableJoint.hh
+++ b/src/systems/detachable_joint/DetachableJoint.hh
@@ -73,7 +73,8 @@ namespace systems
   class DetachableJoint
       : public System,
         public ISystemConfigure,
-        public ISystemPreUpdate
+        public ISystemPreUpdate,
+        public ISystemReset
   {
     /// Documentation inherited
     public: DetachableJoint() = default;
@@ -89,6 +90,10 @@ namespace systems
                 const gz::sim::UpdateInfo &_info,
                 gz::sim::EntityComponentManager &_ecm) final;
 
+    /// Documentation inherited
+    public: void Reset(const gz::sim::UpdateInfo &_info,
+                       gz::sim::EntityComponentManager &_ecm) final;
+
     /// \brief Gazebo communication node.
     private: transport::Node node;