diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
index 8542c443c17..42a81edc539 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPClient.cpp
@@ -801,6 +801,32 @@ bool get_server_client_default_guidPrefix(
     return false;
 }
 
+bool PDPClient::remove_remote_participant(
+        const GUID_t& partGUID,
+        ParticipantDiscoveryInfo::DISCOVERY_STATUS reason)
+{
+    if(PDP::remove_remote_participant(partGUID, reason))
+    {
+        // If it works fine, return
+        return true;
+    }
+
+    // Erase Proxies created before having the Participant
+    GUID_t wguid;
+    wguid.guidPrefix = partGUID.guidPrefix;
+    wguid.entityId = c_EntityId_SPDPWriter;
+    mp_PDPReader->matched_writer_remove(wguid);
+
+    GUID_t rguid;
+    rguid.guidPrefix = partGUID.guidPrefix;
+    rguid.entityId = c_EntityId_SPDPReader;
+    mp_PDPWriter->matched_reader_remove(rguid);
+
+    update_remote_servers_list();
+
+    return false;
+}
+
 } /* namespace rtps */
 } /* namespace fastdds */
 } /* namespace eprosima */
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPClient.h b/src/cpp/rtps/builtin/discovery/participant/PDPClient.h
index 925e0ac070b..aaaafd4f248 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPClient.h
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPClient.h
@@ -122,6 +122,16 @@ class PDPClient : public PDP
     void notifyAboveRemoteEndpoints(
             const ParticipantProxyData& pdata) override;
 
+    /**
+     * This method removes a remote RTPSParticipant and all its writers and readers.
+     * @param participant_guid GUID_t of the remote RTPSParticipant.
+     * @param reason Why the participant is being removed (dropped vs removed)
+     * @return true if correct.
+     */
+    bool remove_remote_participant(
+            const GUID_t& participant_guid,
+            ParticipantDiscoveryInfo::DISCOVERY_STATUS reason) override;
+
     /**
      * Matching server EDP endpoints
      * @return true if all servers have been discovered