diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 72e895b..2d09091 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package rcpputils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+2.10.0 (2024-02-07)
+-------------------
 * Included tl_expected (`#185 <https://github.com/ros2/rcpputils/issues/185>`_)
 * Contributors: Alejandro Hernández Cordero
 
diff --git a/package.xml b/package.xml
index cdfd0c8..f02d38c 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rcpputils</name>
-  <version>2.9.0</version>
+  <version>2.10.0</version>
   <description>Package containing utility code for C++.</description>
 
   <maintainer email="brandon@openrobotics.org">Brandon Ong</maintainer>