diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
index 6771397d364..0914e5cbe03 100644
--- a/nav2_bringup/params/nav2_params.yaml
+++ b/nav2_bringup/params/nav2_params.yaml
@@ -439,7 +439,6 @@ docking_server:
     max_retries: 3
     base_frame: "base_link"
     fixed_frame: "odom"
-    dock_backwards: false
     dock_prestaging_tolerance: 0.5
     service_introspection_mode: "disabled"
 
@@ -452,6 +451,7 @@ docking_server:
       use_external_detection_pose: true
       use_battery_status: false # true
       use_stall_detection: false # true
+      dock_direction: "forward"
 
       external_detection_timeout: 1.0
       external_detection_translation_x: -0.18
diff --git a/nav2_docking/README.md b/nav2_docking/README.md
index 4e4db71d13f..b063e72dd75 100644
--- a/nav2_docking/README.md
+++ b/nav2_docking/README.md
@@ -207,7 +207,6 @@ For debugging purposes, there are several publishers which can be used with RVIZ
 | max_retries        | Maximum number of retries to attempt    | int |  3      |
 | base_frame        | Robot's base frame for control law   | string |  "base_link"      |
 | fixed_frame        | Fixed frame to use, recommended to be a smooth odometry frame **not** map   | string |  "odom"      |
-| dock_backwards        | Whether the robot is docking with the dock forward or backward in motion | bool |  false      |
 | dock_prestaging_tolerance  |  L2 distance in X,Y,Theta from the staging pose to bypass navigation | double |  0.5      |
 | dock_plugins  | A set of dock plugins to load | vector<string> |  N/A      |
 | dock_database  |  The filepath to the dock database to use for this environment | string |  N/A  |
@@ -251,6 +250,7 @@ Note: `dock_plugins` and either `docks` or `dock_database` are required.
 | docking_threshold        | If not using stall detection, the pose threshold to the docking pose where `isDocked() = true`    | double |  0.05     |
 | staging_x_offset        | Staging pose offset forward (negative) of dock pose (m)    | double |  -0.7    |
 | staging_yaw_offset        | Staging pose angle relative to dock pose (rad)    | double |  0.0    |
+| dock_direction        | Whether the robot is docking with the dock forward or backward in motion | string |  "forward"  or "backward"    |
 
 Note: The external detection rotation angles are setup to work out of the box with Apriltags detectors in `image_proc` and `isaac_ros`.
 
diff --git a/nav2_docking/opennav_docking/CMakeLists.txt b/nav2_docking/opennav_docking/CMakeLists.txt
index add25f47544..b50b449cbc1 100644
--- a/nav2_docking/opennav_docking/CMakeLists.txt
+++ b/nav2_docking/opennav_docking/CMakeLists.txt
@@ -33,8 +33,8 @@ add_library(controller SHARED
 )
 target_include_directories(controller
   PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(controller PUBLIC
   ${geometry_msgs_TARGETS}
@@ -51,8 +51,8 @@ add_library(${library_name} SHARED
 )
 target_include_directories(${library_name}
   PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(${library_name} PUBLIC
   angles::angles
@@ -79,8 +79,8 @@ add_library(pose_filter SHARED
 )
 target_include_directories(pose_filter
   PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(pose_filter PUBLIC
   ${geometry_msgs_TARGETS}
@@ -95,8 +95,8 @@ add_executable(${executable_name}
 )
 target_include_directories(${executable_name}
   PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(${executable_name} PRIVATE ${library_name} rclcpp::rclcpp)
 
@@ -107,8 +107,8 @@ add_library(simple_charging_dock SHARED
 )
 target_include_directories(simple_charging_dock
   PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(simple_charging_dock PUBLIC
   ${geometry_msgs_TARGETS}
@@ -121,6 +121,7 @@ target_link_libraries(simple_charging_dock PUBLIC
   tf2_ros::tf2_ros
 )
 target_link_libraries(simple_charging_dock PRIVATE
+  angles::angles
   nav2_util::nav2_util_core
   pluginlib::pluginlib
   tf2::tf2
@@ -131,8 +132,8 @@ add_library(simple_non_charging_dock SHARED
 )
 target_include_directories(simple_non_charging_dock
   PUBLIC
-    "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-    "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
 target_link_libraries(simple_non_charging_dock PUBLIC
   ${geometry_msgs_TARGETS}
@@ -145,6 +146,7 @@ target_link_libraries(simple_non_charging_dock PUBLIC
   tf2_ros::tf2_ros
 )
 target_link_libraries(simple_non_charging_dock PRIVATE
+  angles::angles
   nav2_util::nav2_util_core
   pluginlib::pluginlib
   tf2::tf2
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp b/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp
index cd2ad0c5803..74d46f48f17 100644
--- a/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp
+++ b/nav2_docking/opennav_docking/include/opennav_docking/docking_server.hpp
@@ -15,11 +15,12 @@
 #ifndef OPENNAV_DOCKING__DOCKING_SERVER_HPP_
 #define OPENNAV_DOCKING__DOCKING_SERVER_HPP_
 
-#include <vector>
+#include <functional>
 #include <memory>
-#include <string>
 #include <mutex>
-#include <functional>
+#include <optional>
+#include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 #include "nav2_util/lifecycle_node.hpp"
@@ -87,10 +88,11 @@ class DockingServer : public nav2_util::LifecycleNode
    * @brief Use control law and dock perception to approach the charge dock.
    * @param dock Dock instance, gets queried for refined pose and docked state.
    * @param dock_pose Initial dock pose, will be refined by perception.
+   * @param backward If true, the robot will drive backwards.
    * @returns True if dock successfully approached, False if cancelled. For
    *          any internal error, will throw.
    */
-  bool approachDock(Dock * dock, geometry_msgs::msg::PoseStamped & dock_pose);
+  bool approachDock(Dock * dock, geometry_msgs::msg::PoseStamped & dock_pose, bool backward);
 
   /**
    * @brief Wait for charging to begin.
@@ -102,9 +104,10 @@ class DockingServer : public nav2_util::LifecycleNode
   /**
    * @brief Reset the robot for another approach by controlling back to staging pose.
    * @param staging_pose The target pose that will reset for another approach.
+   * @param backward If true, the robot will drive backwards.
    * @returns True if reset is successful.
    */
-  bool resetApproach(const geometry_msgs::msg::PoseStamped & staging_pose);
+  bool resetApproach(const geometry_msgs::msg::PoseStamped & staging_pose, bool backward);
 
   /**
    * @brief Run a single iteration of the control loop to approach a pose.
@@ -242,7 +245,7 @@ class DockingServer : public nav2_util::LifecycleNode
   // This is our fixed frame for controlling - typically "odom"
   std::string fixed_frame_;
   // Does the robot drive backwards onto the dock? Default is forwards
-  bool dock_backwards_;
+  std::optional<bool> dock_backwards_;
   // The tolerance to the dock's staging pose not requiring navigation
   double dock_prestaging_tolerance_;
 
diff --git a/nav2_docking/opennav_docking/include/opennav_docking/utils.hpp b/nav2_docking/opennav_docking/include/opennav_docking/utils.hpp
index 1acd623f3ee..d0b3dcdf379 100644
--- a/nav2_docking/opennav_docking/include/opennav_docking/utils.hpp
+++ b/nav2_docking/opennav_docking/include/opennav_docking/utils.hpp
@@ -24,6 +24,7 @@
 #include "nav2_util/geometry_utils.hpp"
 #include "angles/angles.h"
 #include "opennav_docking/types.hpp"
+#include "opennav_docking_core/charging_dock.hpp"
 #include "tf2/utils.hpp"
 
 namespace utils
@@ -33,6 +34,7 @@ using rclcpp::ParameterType::PARAMETER_STRING;
 using rclcpp::ParameterType::PARAMETER_STRING_ARRAY;
 using rclcpp::ParameterType::PARAMETER_DOUBLE_ARRAY;
 using nav2_util::geometry_utils::orientationAroundZAxis;
+using opennav_docking_core::DockDirection;
 
 /**
 * @brief Parse a yaml file to obtain docks
@@ -183,6 +185,21 @@ inline double l2Norm(const geometry_msgs::msg::Pose & a, const geometry_msgs::ms
     delta_angle * delta_angle);
 }
 
+inline DockDirection getDockDirectionFromString(const std::string & direction)
+{
+  auto upper_direction = direction;
+  std::transform(
+    upper_direction.begin(), upper_direction.end(), upper_direction.begin(), ::toupper);
+
+  if (upper_direction == "FORWARD") {
+    return DockDirection::FORWARD;
+  } else if (upper_direction == "BACKWARD") {
+    return DockDirection::BACKWARD;
+  } else {
+    return DockDirection::UNKNOWN;
+  }
+}
+
 }  // namespace utils
 
 #endif  // OPENNAV_DOCKING__UTILS_HPP_
diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
index 3e85181fe87..09606d1326a 100644
--- a/nav2_docking/opennav_docking/src/docking_server.cpp
+++ b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -38,7 +38,7 @@ DockingServer::DockingServer(const rclcpp::NodeOptions & options)
   declare_parameter("max_retries", 3);
   declare_parameter("base_frame", "base_link");
   declare_parameter("fixed_frame", "odom");
-  declare_parameter("dock_backwards", false);
+  declare_parameter("dock_backwards", rclcpp::PARAMETER_BOOL);
   declare_parameter("dock_prestaging_tolerance", 0.5);
 }
 
@@ -57,10 +57,19 @@ DockingServer::on_configure(const rclcpp_lifecycle::State & state)
   get_parameter("max_retries", max_retries_);
   get_parameter("base_frame", base_frame_);
   get_parameter("fixed_frame", fixed_frame_);
-  get_parameter("dock_backwards", dock_backwards_);
   get_parameter("dock_prestaging_tolerance", dock_prestaging_tolerance_);
   RCLCPP_INFO(get_logger(), "Controller frequency set to %.4fHz", controller_frequency_);
 
+  bool dock_backwards;
+  try {
+    if (get_parameter("dock_backwards", dock_backwards)) {
+      dock_backwards_ = dock_backwards;
+      RCLCPP_WARN(get_logger(), "Parameter dock_backwards is deprecated. "
+      "Please use the dock_direction parameter in your dock plugin instead.");
+    }
+  } catch (rclcpp::exceptions::ParameterUninitializedException & ex) {
+  }
+
   vel_publisher_ = std::make_unique<nav2_util::TwistPublisher>(node, "cmd_vel", 1);
   tf2_buffer_ = std::make_shared<tf2_ros::Buffer>(node->get_clock());
 
@@ -155,6 +164,7 @@ DockingServer::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   curr_dock_type_.clear();
   controller_.reset();
   vel_publisher_.reset();
+  dock_backwards_.reset();
   return nav2_util::CallbackReturn::SUCCESS;
 }
 
@@ -274,12 +284,17 @@ void DockingServer::dockRobot()
     doInitialPerception(dock, dock_pose);
     RCLCPP_INFO(get_logger(), "Successful initial dock detection");
 
+    // Get the direction of the movement
+    bool dock_backward = dock_backwards_.has_value() ?
+      dock_backwards_.value() :
+      (dock->plugin->getDockDirection() == opennav_docking_core::DockDirection::BACKWARD);
+
     // Docking control loop: while not docked, run controller
     rclcpp::Time dock_contact_time;
     while (rclcpp::ok()) {
       try {
         // Approach the dock using control law
-        if (approachDock(dock, dock_pose)) {
+        if (approachDock(dock, dock_pose, dock_backward)) {
           // We are docked, wait for charging to begin
           RCLCPP_INFO(
             get_logger(), "Made contact with dock, waiting for charge to start (if applicable).");
@@ -312,7 +327,7 @@ void DockingServer::dockRobot()
       }
 
       // Reset to staging pose to try again
-      if (!resetApproach(dock->getStagingPose())) {
+      if (!resetApproach(dock->getStagingPose(), dock_backward)) {
         // Cancelled, preempted, or shutting down
         stashDockData(goal->use_dock_id, dock, false);
         publishZeroVelocity();
@@ -409,11 +424,13 @@ void DockingServer::doInitialPerception(Dock * dock, geometry_msgs::msg::PoseSta
   }
 }
 
-bool DockingServer::approachDock(Dock * dock, geometry_msgs::msg::PoseStamped & dock_pose)
+bool DockingServer::approachDock(
+  Dock * dock, geometry_msgs::msg::PoseStamped & dock_pose, bool backward)
 {
   rclcpp::Rate loop_rate(controller_frequency_);
   auto start = this->now();
   auto timeout = rclcpp::Duration::from_seconds(dock_approach_timeout_);
+
   while (rclcpp::ok()) {
     publishDockingFeedback(DockRobot::Feedback::CONTROLLING);
 
@@ -440,7 +457,7 @@ bool DockingServer::approachDock(Dock * dock, geometry_msgs::msg::PoseStamped &
 
     // Make sure that the target pose is pointing at the robot when moving backwards
     // This is to ensure that the robot doesn't try to dock from the wrong side
-    if (dock_backwards_) {
+    if (backward) {
       target_pose.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(
         tf2::getYaw(target_pose.pose.orientation) + M_PI);
     }
@@ -458,9 +475,7 @@ bool DockingServer::approachDock(Dock * dock, geometry_msgs::msg::PoseStamped &
     // Compute and publish controls
     auto command = std::make_unique<geometry_msgs::msg::TwistStamped>();
     command->header.stamp = now();
-    if (!controller_->computeVelocityCommand(target_pose.pose, command->twist, true,
-        dock_backwards_))
-    {
+    if (!controller_->computeVelocityCommand(target_pose.pose, command->twist, true, backward)) {
       throw opennav_docking_core::FailedToControl("Failed to get control");
     }
     vel_publisher_->publish(std::move(command));
@@ -507,7 +522,8 @@ bool DockingServer::waitForCharge(Dock * dock)
   return false;
 }
 
-bool DockingServer::resetApproach(const geometry_msgs::msg::PoseStamped & staging_pose)
+bool DockingServer::resetApproach(
+  const geometry_msgs::msg::PoseStamped & staging_pose, bool backward)
 {
   rclcpp::Rate loop_rate(controller_frequency_);
   auto start = this->now();
@@ -527,7 +543,7 @@ bool DockingServer::resetApproach(const geometry_msgs::msg::PoseStamped & stagin
     command->header.stamp = now();
     if (getCommandToPose(
         command->twist, staging_pose, undock_linear_tolerance_, undock_angular_tolerance_, false,
-        !dock_backwards_))
+        !backward))
     {
       return true;
     }
@@ -653,9 +669,13 @@ void DockingServer::undockRobot()
       // Get command to approach staging pose
       auto command = std::make_unique<geometry_msgs::msg::TwistStamped>();
       command->header.stamp = now();
+      bool dock_backward = dock_backwards_.has_value() ?
+        dock_backwards_.value() :
+        (dock->getDockDirection() == opennav_docking_core::DockDirection::BACKWARD);
+
       if (getCommandToPose(
           command->twist, staging_pose, undock_linear_tolerance_, undock_angular_tolerance_, false,
-          !dock_backwards_))
+          !dock_backward))
       {
         RCLCPP_INFO(get_logger(), "Robot has reached staging pose");
         // Have reached staging_pose
diff --git a/nav2_docking/opennav_docking/src/simple_charging_dock.cpp b/nav2_docking/opennav_docking/src/simple_charging_dock.cpp
index 298a3be9504..10576a2afff 100644
--- a/nav2_docking/opennav_docking/src/simple_charging_dock.cpp
+++ b/nav2_docking/opennav_docking/src/simple_charging_dock.cpp
@@ -16,6 +16,7 @@
 
 #include "nav2_util/node_utils.hpp"
 #include "opennav_docking/simple_charging_dock.hpp"
+#include "opennav_docking/utils.hpp"
 
 namespace opennav_docking
 {
@@ -78,6 +79,10 @@ void SimpleChargingDock::configure(
   nav2_util::declare_parameter_if_not_declared(
     node_, name + ".staging_yaw_offset", rclcpp::ParameterValue(0.0));
 
+  // Direction of docking
+  nav2_util::declare_parameter_if_not_declared(
+    node_, name + ".dock_direction", rclcpp::ParameterValue(std::string("forward")));
+
   node_->get_parameter(name + ".use_battery_status", use_battery_status_);
   node_->get_parameter(name + ".use_external_detection_pose", use_external_detection_pose_);
   node_->get_parameter(name + ".external_detection_timeout", external_detection_timeout_);
@@ -98,6 +103,13 @@ void SimpleChargingDock::configure(
   node_->get_parameter(name + ".staging_x_offset", staging_x_offset_);
   node_->get_parameter(name + ".staging_yaw_offset", staging_yaw_offset_);
 
+  std::string dock_direction;
+  node_->get_parameter(name + ".dock_direction", dock_direction);
+  dock_direction_ = utils::getDockDirectionFromString(dock_direction);
+  if (dock_direction_ == opennav_docking_core::DockDirection::UNKNOWN) {
+    throw std::runtime_error{"Dock direction is not valid. Valid options are: forward or backward"};
+  }
+
   // Setup filter
   double filter_coef;
   node_->get_parameter(name + ".filter_coef", filter_coef);
diff --git a/nav2_docking/opennav_docking/src/simple_non_charging_dock.cpp b/nav2_docking/opennav_docking/src/simple_non_charging_dock.cpp
index 25e67c5eb94..54001bfe1b6 100644
--- a/nav2_docking/opennav_docking/src/simple_non_charging_dock.cpp
+++ b/nav2_docking/opennav_docking/src/simple_non_charging_dock.cpp
@@ -16,6 +16,7 @@
 
 #include "nav2_util/node_utils.hpp"
 #include "opennav_docking/simple_non_charging_dock.hpp"
+#include "opennav_docking/utils.hpp"
 
 namespace opennav_docking
 {
@@ -69,6 +70,10 @@ void SimpleNonChargingDock::configure(
   nav2_util::declare_parameter_if_not_declared(
     node_, name + ".staging_yaw_offset", rclcpp::ParameterValue(0.0));
 
+  // Direction of docking
+  nav2_util::declare_parameter_if_not_declared(
+    node_, name + ".dock_direction", rclcpp::ParameterValue(std::string("forward")));
+
   node_->get_parameter(name + ".use_external_detection_pose", use_external_detection_pose_);
   node_->get_parameter(name + ".external_detection_timeout", external_detection_timeout_);
   node_->get_parameter(
@@ -87,6 +92,13 @@ void SimpleNonChargingDock::configure(
   node_->get_parameter(name + ".staging_x_offset", staging_x_offset_);
   node_->get_parameter(name + ".staging_yaw_offset", staging_yaw_offset_);
 
+  std::string dock_direction;
+  node_->get_parameter(name + ".dock_direction", dock_direction);
+  dock_direction_ = utils::getDockDirectionFromString(dock_direction);
+  if (dock_direction_ == opennav_docking_core::DockDirection::UNKNOWN) {
+    throw std::runtime_error{"Dock direction is not valid. Valid options are: forward or backward"};
+  }
+
   // Setup filter
   double filter_coef;
   node_->get_parameter(name + ".filter_coef", filter_coef);
diff --git a/nav2_docking/opennav_docking/test/test_docking_server.py b/nav2_docking/opennav_docking/test/test_docking_server.py
index e96f38bb37f..ff6bbfd5f56 100644
--- a/nav2_docking/opennav_docking/test/test_docking_server.py
+++ b/nav2_docking/opennav_docking/test/test_docking_server.py
@@ -62,7 +62,8 @@ def generate_test_description() -> LaunchDescription:
                          'dock_plugins': ['test_dock_plugin'],
                          'test_dock_plugin': {
                              'plugin': 'opennav_docking::SimpleChargingDock',
-                             'use_battery_status': True},
+                             'use_battery_status': True,
+                             'dock_direction': 'forward'},
                          'docks': ['test_dock'],
                          'test_dock': {
                              'type': 'test_dock_plugin',
@@ -210,7 +211,7 @@ def test_docking_server(self) -> None:
         # Test docking action
         self.action_result = []
         assert self.dock_action_client.wait_for_server(timeout_sec=5.0), \
-               'dock_robot service not available'
+            'dock_robot service not available'
 
         goal = DockRobot.Goal()
         goal.use_dock_id = True
diff --git a/nav2_docking/opennav_docking/test/test_docking_server_unit.cpp b/nav2_docking/opennav_docking/test/test_docking_server_unit.cpp
index dd7d08d39f1..0b7c9ebe7b3 100644
--- a/nav2_docking/opennav_docking/test/test_docking_server_unit.cpp
+++ b/nav2_docking/opennav_docking/test/test_docking_server_unit.cpp
@@ -39,6 +39,11 @@ class DockingServerShim : public DockingServer
   {
     return geometry_msgs::msg::PoseStamped();
   }
+
+  std::optional<bool> getDockBackward()
+  {
+    return dock_backwards_;
+  }
 };
 
 TEST(DockingServerTests, ObjectLifecycle)
@@ -263,6 +268,50 @@ TEST(DockingServerTests, testDynamicParams)
   node.reset();
 }
 
+TEST(DockingServerTests, testDockBackward)
+{
+  auto node = std::make_shared<DockingServerShim>();
+
+  // Setup 1 instance of the test failure dock & its plugin instance
+  node->declare_parameter(
+    "docks",
+    rclcpp::ParameterValue(std::vector<std::string>{"test_dock"}));
+  node->declare_parameter(
+    "test_dock.type",
+    rclcpp::ParameterValue(std::string{"dock_plugin"}));
+  node->declare_parameter(
+    "test_dock.pose",
+    rclcpp::ParameterValue(std::vector<double>{0.0, 0.0, 0.0}));
+  node->declare_parameter(
+    "dock_plugins",
+    rclcpp::ParameterValue(std::vector<std::string>{"dock_plugin"}));
+  node->declare_parameter(
+    "dock_plugin.plugin",
+    rclcpp::ParameterValue(std::string{"opennav_docking::TestFailureDock"}));
+
+  // The dock_backwards parameter should be declared but not set
+  node->on_configure(rclcpp_lifecycle::State());
+  EXPECT_FALSE(node->getDockBackward().has_value());
+  node->on_cleanup(rclcpp_lifecycle::State());
+
+  // Now, set the dock_backwards parameter to true
+  node->set_parameter(rclcpp::Parameter("dock_backwards", rclcpp::ParameterValue(true)));
+  node->on_configure(rclcpp_lifecycle::State());
+  EXPECT_TRUE(node->getDockBackward().has_value());
+  EXPECT_TRUE(node->getDockBackward().value());
+  node->on_cleanup(rclcpp_lifecycle::State());
+
+  // Now, set the dock_backwards parameter to false
+  node->set_parameter(rclcpp::Parameter("dock_backwards", rclcpp::ParameterValue(false)));
+  node->on_configure(rclcpp_lifecycle::State());
+  EXPECT_TRUE(node->getDockBackward().has_value());
+  EXPECT_FALSE(node->getDockBackward().value());
+  node->on_cleanup(rclcpp_lifecycle::State());
+
+  node->on_shutdown(rclcpp_lifecycle::State());
+  node.reset();
+}
+
 }  // namespace opennav_docking
 
 int main(int argc, char **argv)
diff --git a/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp b/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
index 09d8bab0e1a..71873763a1d 100644
--- a/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
+++ b/nav2_docking/opennav_docking/test/test_simple_charging_dock.cpp
@@ -234,6 +234,34 @@ TEST(SimpleChargingDockTests, RefinedPoseTest)
   dock.reset();
 }
 
+TEST(SimpleChargingDockTests, GetDockDirection)
+{
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
+  node->declare_parameter("my_dock.dock_direction", rclcpp::ParameterValue("forward"));
+
+  auto dock = std::make_unique<opennav_docking::SimpleChargingDock>();
+  EXPECT_EQ(dock->getDockDirection(), opennav_docking_core::DockDirection::UNKNOWN);
+  EXPECT_NO_THROW(dock->configure(node, "my_dock", nullptr));
+  EXPECT_EQ(dock->getDockDirection(), opennav_docking_core::DockDirection::FORWARD);
+  dock->cleanup();
+
+  // Now set to BACKWARD
+  node->set_parameter(
+    rclcpp::Parameter("my_dock.dock_direction", rclcpp::ParameterValue("backward")));
+  EXPECT_NO_THROW(dock->configure(node, "my_dock", nullptr));
+  EXPECT_EQ(dock->getDockDirection(), opennav_docking_core::DockDirection::BACKWARD);
+  dock->cleanup();
+
+  // Now set to UNKNOWN
+  node->set_parameter(
+    rclcpp::Parameter("my_dock.dock_direction", rclcpp::ParameterValue("other")));
+  EXPECT_THROW(dock->configure(node, "my_dock", nullptr), std::runtime_error);
+  EXPECT_EQ(dock->getDockDirection(), opennav_docking_core::DockDirection::UNKNOWN);
+
+  dock->cleanup();
+  dock.reset();
+}
+
 }  // namespace opennav_docking
 
 int main(int argc, char **argv)
diff --git a/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp b/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
index 5d49b91bea6..96450ef6d05 100644
--- a/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
+++ b/nav2_docking/opennav_docking/test/test_simple_non_charging_dock.cpp
@@ -194,6 +194,34 @@ TEST(SimpleNonChargingDockTests, RefinedPoseTest)
   dock.reset();
 }
 
+TEST(SimpleNonChargingDockTests, GetDockDirection)
+{
+  auto node = std::make_shared<rclcpp_lifecycle::LifecycleNode>("test");
+  node->declare_parameter("my_dock.dock_direction", rclcpp::ParameterValue("forward"));
+
+  auto dock = std::make_unique<opennav_docking::SimpleNonChargingDock>();
+  EXPECT_EQ(dock->getDockDirection(), opennav_docking_core::DockDirection::UNKNOWN);
+  EXPECT_NO_THROW(dock->configure(node, "my_dock", nullptr));
+  EXPECT_EQ(dock->getDockDirection(), opennav_docking_core::DockDirection::FORWARD);
+  dock->cleanup();
+
+  // Now set to BACKWARD
+  node->set_parameter(
+    rclcpp::Parameter("my_dock.dock_direction", rclcpp::ParameterValue("backward")));
+  EXPECT_NO_THROW(dock->configure(node, "my_dock", nullptr));
+  EXPECT_EQ(dock->getDockDirection(), opennav_docking_core::DockDirection::BACKWARD);
+  dock->cleanup();
+
+  // Now set to UNKNOWN
+  node->set_parameter(
+    rclcpp::Parameter("my_dock.dock_direction", rclcpp::ParameterValue("other")));
+  EXPECT_THROW(dock->configure(node, "my_dock", nullptr), std::runtime_error);
+  EXPECT_EQ(dock->getDockDirection(), opennav_docking_core::DockDirection::UNKNOWN);
+
+  dock->cleanup();
+  dock.reset();
+}
+
 }  // namespace opennav_docking
 
 int main(int argc, char **argv)
diff --git a/nav2_docking/opennav_docking/test/test_utils.cpp b/nav2_docking/opennav_docking/test/test_utils.cpp
index 46bd52313f7..986d0b858a3 100644
--- a/nav2_docking/opennav_docking/test/test_utils.cpp
+++ b/nav2_docking/opennav_docking/test/test_utils.cpp
@@ -135,6 +135,13 @@ TEST(UtilsTests, testl2Norm)
   EXPECT_NEAR(utils::l2Norm(a, b), 0.734, 1e-3);
 }
 
+TEST(UtilsTests, testGetDockDirectionFromString) {
+  using opennav_docking_core::DockDirection;
+  EXPECT_EQ(utils::getDockDirectionFromString("forward"), DockDirection::FORWARD);
+  EXPECT_EQ(utils::getDockDirectionFromString("backward"), DockDirection::BACKWARD);
+  EXPECT_EQ(utils::getDockDirectionFromString("other"), DockDirection::UNKNOWN);
+}
+
 }  // namespace opennav_docking
 
 int main(int argc, char **argv)
diff --git a/nav2_docking/opennav_docking/test/testing_dock.cpp b/nav2_docking/opennav_docking/test/testing_dock.cpp
index 96ea5ff9370..a225291d804 100644
--- a/nav2_docking/opennav_docking/test/testing_dock.cpp
+++ b/nav2_docking/opennav_docking/test/testing_dock.cpp
@@ -38,6 +38,7 @@ class TestFailureDock : public opennav_docking_core::ChargingDock
     if (!node_) {
       throw std::runtime_error{"Failed to lock node"};
     }
+    dock_direction_ = opennav_docking_core::DockDirection::FORWARD;
   }
 
   virtual void cleanup() {}
diff --git a/nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp b/nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp
index 902323ae805..ada25c9f474 100644
--- a/nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp
+++ b/nav2_docking/opennav_docking_core/include/opennav_docking_core/charging_dock.hpp
@@ -26,6 +26,12 @@
 namespace opennav_docking_core
 {
 
+/**
+ * @enum DockDirection
+ * @brief An enum class representing the direction of the dock
+ */
+enum class DockDirection { UNKNOWN, FORWARD, BACKWARD };
+
 /**
  * @class ChargingDock
  * @brief Abstract interface for a charging dock for the docking framework
@@ -123,10 +129,18 @@ class ChargingDock
    */
   virtual bool isCharger() {return true;}
 
+  /**
+   * @brief Indicates the direction of the dock. This is used to determine if the
+   * robot should drive forwards or backwards onto the dock.
+   * @return DockDirection The direction of the dock
+   */
+  DockDirection getDockDirection() {return dock_direction_;}
+
   std::string getName() {return name_;}
 
 protected:
   std::string name_;
+  DockDirection dock_direction_{DockDirection::UNKNOWN};
 };
 
 }  // namespace opennav_docking_core
diff --git a/nav2_system_tests/src/costmap_filters/keepout_params.yaml b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
index 246810868ba..c763808912f 100644
--- a/nav2_system_tests/src/costmap_filters/keepout_params.yaml
+++ b/nav2_system_tests/src/costmap_filters/keepout_params.yaml
@@ -106,7 +106,16 @@ controller_server:
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      critics:
+        [
+          "RotateToGoal",
+          "Oscillation",
+          "BaseObstacle",
+          "GoalAlign",
+          "PathAlign",
+          "PathDist",
+          "GoalDist",
+        ]
       BaseObstacle.scale: 0.02
       PathAlign.scale: 32.0
       PathAlign.forward_point_distance: 0.1
@@ -309,18 +318,18 @@ docking_server:
     max_retries: 3
     base_frame: "base_link"
     fixed_frame: "odom"
-    dock_backwards: false
     dock_prestaging_tolerance: 0.5
 
     # Types of docks
-    dock_plugins: ['simple_charging_dock']
+    dock_plugins: ["simple_charging_dock"]
     simple_charging_dock:
-      plugin: 'opennav_docking::SimpleChargingDock'
+      plugin: "opennav_docking::SimpleChargingDock"
       docking_threshold: 0.05
       staging_x_offset: -0.7
       use_external_detection_pose: true
       use_battery_status: false # true
       use_stall_detection: false # true
+      dock_direction: "forward"
 
       external_detection_timeout: 1.0
       external_detection_translation_x: -0.18
diff --git a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
index f1941796018..a7593657cee 100644
--- a/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
+++ b/nav2_system_tests/src/costmap_filters/speed_global_params.yaml
@@ -105,7 +105,16 @@ controller_server:
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      critics:
+        [
+          "RotateToGoal",
+          "Oscillation",
+          "BaseObstacle",
+          "GoalAlign",
+          "PathAlign",
+          "PathDist",
+          "GoalDist",
+        ]
       BaseObstacle.scale: 0.02
       PathAlign.scale: 32.0
       PathAlign.forward_point_distance: 0.1
@@ -299,18 +308,18 @@ docking_server:
     max_retries: 3
     base_frame: "base_link"
     fixed_frame: "odom"
-    dock_backwards: false
     dock_prestaging_tolerance: 0.5
 
     # Types of docks
-    dock_plugins: ['simple_charging_dock']
+    dock_plugins: ["simple_charging_dock"]
     simple_charging_dock:
-      plugin: 'opennav_docking::SimpleChargingDock'
+      plugin: "opennav_docking::SimpleChargingDock"
       docking_threshold: 0.05
       staging_x_offset: -0.7
       use_external_detection_pose: true
       use_battery_status: false # true
       use_stall_detection: false # true
+      dock_direction: "forward"
 
       external_detection_timeout: 1.0
       external_detection_translation_x: -0.18
diff --git a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
index 28c4acba800..aef69d68074 100644
--- a/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
+++ b/nav2_system_tests/src/costmap_filters/speed_local_params.yaml
@@ -105,7 +105,16 @@ controller_server:
       trans_stopped_velocity: 0.25
       short_circuit_trajectory_evaluation: True
       stateful: True
-      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      critics:
+        [
+          "RotateToGoal",
+          "Oscillation",
+          "BaseObstacle",
+          "GoalAlign",
+          "PathAlign",
+          "PathDist",
+          "GoalDist",
+        ]
       BaseObstacle.scale: 0.02
       PathAlign.scale: 32.0
       PathAlign.forward_point_distance: 0.1
@@ -299,18 +308,18 @@ docking_server:
     max_retries: 3
     base_frame: "base_link"
     fixed_frame: "odom"
-    dock_backwards: false
     dock_prestaging_tolerance: 0.5
 
     # Types of docks
-    dock_plugins: ['simple_charging_dock']
+    dock_plugins: ["simple_charging_dock"]
     simple_charging_dock:
-      plugin: 'opennav_docking::SimpleChargingDock'
+      plugin: "opennav_docking::SimpleChargingDock"
       docking_threshold: 0.05
       staging_x_offset: -0.7
       use_external_detection_pose: true
       use_battery_status: false # true
       use_stall_detection: false # true
+      dock_direction: "forward"
 
       external_detection_timeout: 1.0
       external_detection_translation_x: -0.18
diff --git a/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml b/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml
index e17800872a3..b81cef7ce56 100644
--- a/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml
+++ b/nav2_system_tests/src/gps_navigation/nav2_no_map_params.yaml
@@ -83,10 +83,17 @@ controller_server:
         time_step: 3
       AckermannConstraints:
         min_turning_r: 0.2
-      critics: [
-        "ConstraintCritic", "CostCritic", "GoalCritic",
-        "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic",
-        "PathAngleCritic", "PreferForwardCritic"]
+      critics:
+        [
+          "ConstraintCritic",
+          "CostCritic",
+          "GoalCritic",
+          "GoalAngleCritic",
+          "PathAlignCritic",
+          "PathFollowCritic",
+          "PathAngleCritic",
+          "PreferForwardCritic",
+        ]
       ConstraintCritic:
         enabled: true
         cost_power: 1
@@ -268,7 +275,8 @@ behavior_server:
     local_footprint_topic: local_costmap/published_footprint
     global_footprint_topic: global_costmap/published_footprint
     cycle_frequency: 10.0
-    behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
+    behavior_plugins:
+      ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"]
     spin:
       plugin: "nav2_behaviors::Spin"
     backup:
@@ -354,18 +362,18 @@ docking_server:
     max_retries: 3
     base_frame: "base_link"
     fixed_frame: "odom"
-    dock_backwards: false
     dock_prestaging_tolerance: 0.5
 
     # Types of docks
-    dock_plugins: ['simple_charging_dock']
+    dock_plugins: ["simple_charging_dock"]
     simple_charging_dock:
-      plugin: 'opennav_docking::SimpleChargingDock'
+      plugin: "opennav_docking::SimpleChargingDock"
       docking_threshold: 0.05
       staging_x_offset: -0.7
       use_external_detection_pose: true
       use_battery_status: false # true
       use_stall_detection: false # true
+      dock_direction: "forward"
 
       external_detection_timeout: 1.0
       external_detection_translation_x: -0.18
@@ -376,9 +384,9 @@ docking_server:
       filter_coef: 0.1
 
     # Dock instances
-    docks: ['home_dock']  # Input your docks here
+    docks: ["home_dock"] # Input your docks here
     home_dock:
-      type: 'simple_charging_dock'
+      type: "simple_charging_dock"
       frame: map
       pose: [0.0, 0.0, 0.0]
 
diff --git a/nav2_system_tests/src/system/nav2_system_params.yaml b/nav2_system_tests/src/system/nav2_system_params.yaml
index aef72a7825c..311081aaa26 100644
--- a/nav2_system_tests/src/system/nav2_system_params.yaml
+++ b/nav2_system_tests/src/system/nav2_system_params.yaml
@@ -354,7 +354,6 @@ docking_server:
     max_retries: 3
     base_frame: "base_link"
     fixed_frame: "odom"
-    dock_backwards: false
     dock_prestaging_tolerance: 0.5
 
     # Types of docks
@@ -366,6 +365,7 @@ docking_server:
       use_external_detection_pose: true
       use_battery_status: false # true
       use_stall_detection: false # true
+      dock_direction: "forward"
 
       external_detection_timeout: 1.0
       external_detection_translation_x: -0.18