diff --git a/ros2run/ros2run/api/__init__.py b/ros2run/ros2run/api/__init__.py
index fd592bccd..b18371f01 100644
--- a/ros2run/ros2run/api/__init__.py
+++ b/ros2run/ros2run/api/__init__.py
@@ -62,6 +62,16 @@ def run_executable(*, path, argv, prefix=None):
         cmd = prefix + cmd
 
     process = subprocess.Popen(cmd)
+
+    # add signal handler for the parent process, so that we can finalize the child process
+    def signal_handler(sig, frame):
+        print(ROS2RUN_MSG_PREFIX, 'Received signal: ', signal.strsignal(sig))
+        if process.poll() is None:
+            # If child process is running, forward the signal to it
+            process.send_signal(sig)
+    signal.signal(signal.SIGINT, signal_handler)
+    signal.signal(signal.SIGTERM, signal_handler)
+
     while process.returncode is None:
         try:
             process.communicate()