diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6d6af2769..a53096103 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,22 @@
 # Changelog
 
+## [0.24.0](https://www.github.com/googleapis/google-auth-library-java/compare/v0.23.0...v0.24.0) (2021-02-19)
+
+
+### Features
+
+* add workload identity federation support ([#547](https://www.github.com/googleapis/google-auth-library-java/issues/547)) ([b8dde1e](https://www.github.com/googleapis/google-auth-library-java/commit/b8dde1e43f86a0a00741790c12d73f6cbda6251d))
+
+
+### Bug Fixes
+
+* don't log downloads ([#576](https://www.github.com/googleapis/google-auth-library-java/issues/576)) ([6181030](https://www.github.com/googleapis/google-auth-library-java/commit/61810306dc0e18500a4a6b2704e00842fbecd879))
+
+
+### Documentation
+
+* add instructions for using workload identity federation ([#564](https://www.github.com/googleapis/google-auth-library-java/issues/564)) ([2142db3](https://www.github.com/googleapis/google-auth-library-java/commit/2142db314666f298071ae30a7419b00d48d87476))
+
 ## [0.23.0](https://www.github.com/googleapis/google-auth-library-java/compare/v0.22.2...v0.23.0) (2021-01-26)
 
 
diff --git a/README.md b/README.md
index 7ef7021a4..24aac46f6 100644
--- a/README.md
+++ b/README.md
@@ -32,7 +32,7 @@ If you are using Maven, add this to your pom.xml file (notice that you can repla
 <dependency>
   <groupId>com.google.auth</groupId>
   <artifactId>google-auth-library-oauth2-http</artifactId>
-  <version>0.23.0</version>
+  <version>0.24.0</version>
 </dependency>
 ```
 [//]: # ({x-version-update-end})
@@ -42,7 +42,7 @@ If you are using Gradle, add this to your dependencies
 
 [//]: # ({x-version-update-start:google-auth-library-oauth2-http:released})
 ```Groovy
-compile 'com.google.auth:google-auth-library-oauth2-http:0.23.0'
+compile 'com.google.auth:google-auth-library-oauth2-http:0.24.0'
 ```
 [//]: # ({x-version-update-end})
 
@@ -50,7 +50,7 @@ If you are using SBT, add this to your dependencies
 
 [//]: # ({x-version-update-start:google-auth-library-oauth2-http:released})
 ```Scala
-libraryDependencies += "com.google.auth" % "google-auth-library-oauth2-http" % "0.23.0"
+libraryDependencies += "com.google.auth" % "google-auth-library-oauth2-http" % "0.24.0"
 ```
 [//]: # ({x-version-update-end})
 
diff --git a/appengine/pom.xml b/appengine/pom.xml
index d5cc23d4d..f8e91fea4 100644
--- a/appengine/pom.xml
+++ b/appengine/pom.xml
@@ -5,7 +5,7 @@
   <parent>
     <groupId>com.google.auth</groupId>
     <artifactId>google-auth-library-parent</artifactId>
-    <version>0.23.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-parent:current} -->
+    <version>0.24.0</version><!-- {x-version-update:google-auth-library-parent:current} -->
     <relativePath>../pom.xml</relativePath>
   </parent>
 
diff --git a/bom/pom.xml b/bom/pom.xml
index eeb502dec..f916a613f 100644
--- a/bom/pom.xml
+++ b/bom/pom.xml
@@ -3,7 +3,7 @@
   <modelVersion>4.0.0</modelVersion>
   <groupId>com.google.auth</groupId>
   <artifactId>google-auth-library-bom</artifactId>
-  <version>0.23.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-bom:current} -->
+  <version>0.24.0</version><!-- {x-version-update:google-auth-library-bom:current} -->
   <packaging>pom</packaging>
   <name>Google Auth Library for Java BOM</name>
   <description>
diff --git a/credentials/pom.xml b/credentials/pom.xml
index f8469d3bc..1bea3054c 100644
--- a/credentials/pom.xml
+++ b/credentials/pom.xml
@@ -4,7 +4,7 @@
   <parent>
     <groupId>com.google.auth</groupId>
     <artifactId>google-auth-library-parent</artifactId>
-    <version>0.23.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-parent:current} -->
+    <version>0.24.0</version><!-- {x-version-update:google-auth-library-parent:current} -->
     <relativePath>../pom.xml</relativePath>
   </parent>
 
diff --git a/oauth2_http/pom.xml b/oauth2_http/pom.xml
index 7774aad37..ee9f8dacb 100644
--- a/oauth2_http/pom.xml
+++ b/oauth2_http/pom.xml
@@ -5,7 +5,7 @@
   <parent>
     <groupId>com.google.auth</groupId>
     <artifactId>google-auth-library-parent</artifactId>
-    <version>0.23.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-parent:current} -->
+    <version>0.24.0</version><!-- {x-version-update:google-auth-library-parent:current} -->
     <relativePath>../pom.xml</relativePath>
   </parent>
 
diff --git a/pom.xml b/pom.xml
index 318881f05..c2edc3124 100644
--- a/pom.xml
+++ b/pom.xml
@@ -3,7 +3,7 @@
   <modelVersion>4.0.0</modelVersion>
   <groupId>com.google.auth</groupId>
   <artifactId>google-auth-library-parent</artifactId>
-  <version>0.23.1-SNAPSHOT</version><!-- {x-version-update:google-auth-library-parent:current} -->
+  <version>0.24.0</version><!-- {x-version-update:google-auth-library-parent:current} -->
   <packaging>pom</packaging>
   <name>Google Auth Library for Java</name>
   <description>Client libraries providing authentication and
diff --git a/versions.txt b/versions.txt
index b26eded59..d9ba06eaf 100644
--- a/versions.txt
+++ b/versions.txt
@@ -1,9 +1,9 @@
 # Format:
 # module:released-version:current-version
 
-google-auth-library:0.23.0:0.23.1-SNAPSHOT
-google-auth-library-bom:0.23.0:0.23.1-SNAPSHOT
-google-auth-library-parent:0.23.0:0.23.1-SNAPSHOT
-google-auth-library-appengine:0.23.0:0.23.1-SNAPSHOT
-google-auth-library-credentials:0.23.0:0.23.1-SNAPSHOT
-google-auth-library-oauth2-http:0.23.0:0.23.1-SNAPSHOT
+google-auth-library:0.24.0:0.24.0
+google-auth-library-bom:0.24.0:0.24.0
+google-auth-library-parent:0.24.0:0.24.0
+google-auth-library-appengine:0.24.0:0.24.0
+google-auth-library-credentials:0.24.0:0.24.0
+google-auth-library-oauth2-http:0.24.0:0.24.0