diff --git a/autoware_adapi_v1_msgs/CMakeLists.txt b/autoware_adapi_v1_msgs/CMakeLists.txt
index bdef13a..7b2bec9 100644
--- a/autoware_adapi_v1_msgs/CMakeLists.txt
+++ b/autoware_adapi_v1_msgs/CMakeLists.txt
@@ -53,9 +53,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   planning/srv/GetCooperationPolicies.srv
   system/msg/RtiState.msg
   system/msg/MrmState.msg
+  system/msg/MrmDescription.msg
   system/msg/MrmRequest.msg
   system/msg/MrmRequestList.msg
   system/srv/SendMrmRequest.srv
+  system/srv/ListMrmDescription.srv
   system/msg/Heartbeat.msg
   system/msg/DiagGraphStruct.msg
   system/msg/DiagGraphStatus.msg
diff --git a/autoware_adapi_v1_msgs/system/msg/MrmDescription.msg b/autoware_adapi_v1_msgs/system/msg/MrmDescription.msg
new file mode 100644
index 0000000..cd79ce3
--- /dev/null
+++ b/autoware_adapi_v1_msgs/system/msg/MrmDescription.msg
@@ -0,0 +1,3 @@
+uint16 behavior
+string name
+string description
diff --git a/autoware_adapi_v1_msgs/system/msg/MrmState.msg b/autoware_adapi_v1_msgs/system/msg/MrmState.msg
index 5df3416..74b1493 100644
--- a/autoware_adapi_v1_msgs/system/msg/MrmState.msg
+++ b/autoware_adapi_v1_msgs/system/msg/MrmState.msg
@@ -9,7 +9,8 @@ uint16 MRM_OPERATING = 2
 uint16 MRM_SUCCEEDED = 3
 uint16 MRM_FAILED = 4
 
-# For behavior
+# For behavior. Deprecated: use description API.
+# https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/features/fail-safe/
 uint16 NONE = 1
 uint16 EMERGENCY_STOP = 2
 uint16 COMFORTABLE_STOP = 3
diff --git a/autoware_adapi_v1_msgs/system/srv/ListMrmDescription.srv b/autoware_adapi_v1_msgs/system/srv/ListMrmDescription.srv
new file mode 100644
index 0000000..b43d341
--- /dev/null
+++ b/autoware_adapi_v1_msgs/system/srv/ListMrmDescription.srv
@@ -0,0 +1,3 @@
+autoware_adapi_v1_msgs/MrmDescription[] descriptions
+---
+autoware_adapi_v1_msgs/ResponseStatus status