diff --git a/rclrs/src/arguments.rs b/rclrs/src/arguments.rs
new file mode 100644
index 000000000..721b01559
--- /dev/null
+++ b/rclrs/src/arguments.rs
@@ -0,0 +1,181 @@
+use crate::error::*;
+use crate::rcl_bindings::*;
+use libc::c_void;
+use std::ffi::CString;
+use std::os::raw::c_char;
+use std::ptr::null_mut;
+
+/// Extract non-ROS arguments from program's input arguments.
+///
+/// `args` is expected to be the input arguments of the program (e.g. [`std::env::args()`]),
+/// which are expected to contain at least one element - the executable name.
+///
+/// ROS arguments are arguments between `--ros-args` and `--`, with the final `--` being optional.
+/// Everything else is considered as non-ROS arguments and will be left unparsed by
+/// [`Context::new()`][1] etc.
+/// Extracted non-ROS arguments are returned in the order that they appear by this function.
+///
+/// # Example
+/// ```
+/// # use rclrs::RclrsError;
+/// let input_args = [
+///     "arg1", "--ros-args", "some", "args", "--", "arg2"
+/// ].map(|x| x.to_string());
+/// let non_ros_args = rclrs::extract_non_ros_args(input_args)?;
+/// assert_eq!(non_ros_args.len(), 2);
+/// assert_eq!(non_ros_args[0], "arg1");
+/// assert_eq!(non_ros_args[1], "arg2");
+/// # Ok::<(), RclrsError>(())
+/// ```
+///
+/// [1]: crate::Context::new
+pub fn extract_non_ros_args(
+    args: impl IntoIterator<Item = String>,
+) -> Result<Vec<String>, RclrsError> {
+    // SAFETY: Getting a zero-initialized value is always safe.
+    let mut rcl_arguments = unsafe { rcl_get_zero_initialized_arguments() };
+
+    let (args, cstring_args): (Vec<String>, Vec<Result<CString, RclrsError>>) = args
+        .into_iter()
+        .map(|arg| {
+            let cstring_arg =
+                CString::new(arg.as_str()).map_err(|err| RclrsError::StringContainsNul {
+                    err,
+                    s: arg.clone(),
+                });
+            (arg, cstring_arg)
+        })
+        .unzip();
+    let cstring_args: Vec<CString> = cstring_args
+        .into_iter()
+        .collect::<Result<Vec<CString>, RclrsError>>()?;
+    // Vector of pointers into cstring_args
+    let c_args: Vec<*const c_char> = cstring_args.iter().map(|arg| arg.as_ptr()).collect();
+
+    let argv = if c_args.is_empty() {
+        std::ptr::null()
+    } else {
+        c_args.as_ptr()
+    };
+
+    unsafe {
+        // SAFETY: Getting a default value is always safe.
+        let allocator = rcutils_get_default_allocator();
+        // SAFETY: No preconditions for this function.
+        rcl_parse_arguments(c_args.len() as i32, argv, allocator, &mut rcl_arguments).ok()?;
+    }
+
+    let ret = get_rcl_arguments(
+        rcl_arguments_get_count_unparsed,
+        rcl_arguments_get_unparsed,
+        &rcl_arguments,
+        &args,
+    );
+    unsafe {
+        // SAFETY: No preconditions for this function.
+        rcl_arguments_fini(&mut rcl_arguments).ok()?;
+    }
+    ret
+}
+
+/// Returns arguments type held by `rcl_arguments` basing on `rcl_get_count` and `rcl_get_indices` function pointers.
+///
+/// This function must be called after `rcl_arguments` was initialized. `args` must be array of input arguments passed to node/program.
+///
+/// SAFETY: `rcl_get_count` and `rcl_get_indices` has to be corresponding rcl API functions, e.g.:
+/// `rcl_arguments_get_count_unparsed` -> `rcl_arguments_get_unparsed`
+/// `rcl_arguments_get_count_unparsed_ros` -> `rcl_arguments_get_count_ros`
+/// ...
+pub(crate) fn get_rcl_arguments(
+    rcl_get_count: unsafe extern "C" fn(*const rcl_arguments_t) -> std::os::raw::c_int,
+    rcl_get_indices: unsafe extern "C" fn(
+        *const rcl_arguments_t,
+        rcl_allocator_t,
+        *mut *mut std::os::raw::c_int,
+    ) -> rcl_ret_t,
+    rcl_arguments: *const rcl_arguments_t,
+    args: &[String],
+) -> Result<Vec<String>, RclrsError> {
+    // SAFETY: No preconditions for this function.
+    let args_count = unsafe { rcl_get_count(rcl_arguments) };
+    debug_assert!(args_count != -1);
+    // All possible negative args_count values were handled above.
+    let args_count = usize::try_from(args_count).unwrap();
+    if args_count == 0 {
+        return Ok(Vec::new());
+    }
+    let mut extracted_args: Vec<String> = Vec::with_capacity(args_count);
+    let mut indices_ptr: *mut i32 = null_mut();
+    unsafe {
+        // SAFETY: No preconditions for this function.
+        let allocator = rcutils_get_default_allocator();
+        // SAFETY: The indices_ptr is an output parameter, so it is expected that it contains null.
+        // The indices_ptr will need to be freed by the caller, which happens later in this function.
+        rcl_get_indices(rcl_arguments, allocator, &mut indices_ptr).ok()?;
+
+        for i in 0..args_count {
+            // SAFETY: rcl_get_indices finished with success and rcl_get_count is matching function
+            // according to documentation of this function
+            let index = *(indices_ptr.add(i));
+            // SAFETY: rcl_get_indices and rcl_get_count are matching functions according
+            // to documentation of this function
+            let arg = args.get(index as usize).unwrap();
+            extracted_args.push(arg.clone());
+        }
+        // SAFETY: No preconditions for this function.
+        let allocator = rcutils_get_default_allocator();
+        // SAFETY: indices_ptr was allocated with given allocator
+        allocator.deallocate.unwrap()(indices_ptr as *mut c_void, null_mut());
+    }
+    Ok(extracted_args)
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn test_non_ros_arguments() -> Result<(), String> {
+        // ROS args are expected to be between '--ros-args' and '--'. Everything beside that is 'non-ROS'.
+        let input_args: [String; 6] = [
+            "non-ros1",
+            "--ros-args",
+            "ros-args",
+            "--",
+            "non-ros2",
+            "non-ros3",
+        ]
+        .map(|x| x.to_string());
+
+        let non_ros_args: Vec<String> = extract_non_ros_args(input_args).unwrap();
+        let expected = vec!["non-ros1", "non-ros2", "non-ros3"];
+
+        if non_ros_args.len() != expected.len() {
+            return Err(format!(
+                "Expected vector size: {}, actual: {}",
+                expected.len(),
+                non_ros_args.len()
+            ));
+        } else {
+            for i in 0..non_ros_args.len() {
+                if non_ros_args[i] != expected[i] {
+                    let msg = format!(
+                        "Mismatching elements at position: {}. Expected: {}, got: {}",
+                        i, expected[i], non_ros_args[i]
+                    );
+                    return Err(msg);
+                }
+            }
+        }
+
+        Ok(())
+    }
+
+    #[test]
+    fn test_empty_non_ros_arguments() -> Result<(), RclrsError> {
+        let empty_non_ros_args = extract_non_ros_args(vec![])?;
+        assert_eq!(empty_non_ros_args.len(), 0);
+
+        Ok(())
+    }
+}
diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
index 0f4f2e3e9..f336a2214 100644
--- a/rclrs/src/lib.rs
+++ b/rclrs/src/lib.rs
@@ -5,6 +5,7 @@
 //!
 //! [1]: https://github.com/ros2-rust/ros2_rust/blob/main/README.md
 
+mod arguments;
 mod context;
 mod error;
 mod node;
@@ -14,6 +15,7 @@ mod wait;
 
 mod rcl_bindings;
 
+pub use arguments::*;
 pub use context::*;
 pub use error::*;
 pub use node::*;