diff --git a/launch/launch/event_handler.py b/launch/launch/event_handler.py
index 078da25f5..4c93b6546 100644
--- a/launch/launch/event_handler.py
+++ b/launch/launch/event_handler.py
@@ -39,7 +39,8 @@ def __init__(
         self,
         *,
         matcher: Callable[[Event], bool],
-        entities: Optional[SomeActionsType] = None
+        entities: Optional[SomeActionsType] = None,
+        handle_once: bool = False
     ) -> None:
         """
         Constructor.
@@ -48,15 +49,33 @@ def __init__(
             the event should be handled by this event handler, False otherwise.
         :param: entities is an LaunchDescriptionEntity or list of them, and is
             returned by handle() unconditionally if matcher returns True.
+        :param: handle_once is a flag that, if True, unregisters this EventHandler
+            after being handled once.
         """
         self.__matcher = matcher
         self.__entities = entities
+        self.handle_once = handle_once
 
     @property
     def entities(self):
         """Getter for entities."""
         return self.__entities
 
+    @property
+    def handle_once(self):
+        """Getter for handle_once flag."""
+        return self.__handle_once
+
+    @handle_once.setter
+    def handle_once(self, value):
+        """Setter for handle_once flag."""
+        if isinstance(value, bool):
+            self.__handle_once = value
+        else:
+            raise TypeError(
+                'handle_once expects type "bool", but received {} instead.'.format(type(value))
+            )
+
     # TODO(wjwwood): setup standard interface for describing event handlers
 
     def matches(self, event: Event) -> bool:
@@ -66,4 +85,6 @@ def matches(self, event: Event) -> bool:
     def handle(self, event: Event, context: 'LaunchContext') -> Optional[SomeActionsType]:
         """Handle the given event."""
         context.extend_locals({'event': event})
+        if self.handle_once:
+            context.unregister_event_handler(self)
         return self.__entities
diff --git a/launch/test/launch/test_event_handler.py b/launch/test/launch/test_event_handler.py
index 5a6285a8f..6250a599c 100644
--- a/launch/test/launch/test_event_handler.py
+++ b/launch/test/launch/test_event_handler.py
@@ -19,11 +19,18 @@
 from launch import LaunchDescriptionEntity
 from launch import SomeActionsType_types_tuple
 
+import pytest
+
 
 def test_event_handler_constructors():
     """Test the constructors for EventHandler class."""
     EventHandler(matcher=lambda event: False)
     EventHandler(matcher=lambda event: False, entities=[LaunchDescriptionEntity])
+    EventHandler(matcher=lambda event: True, handle_once=True)
+
+    # Construct with bad type
+    with pytest.raises(TypeError):
+        EventHandler(matcher=lambda event: True, handle_once='Bad type')
 
 
 def test_event_handler_matches_and_handle():
@@ -39,3 +46,40 @@ class MockEvent:
     assert isinstance(entities, SomeActionsType_types_tuple)
     assert len(entities) == 1
     assert context.locals.event == mock_event
+
+
+def test_event_handler_handle_once_property():
+    eh = EventHandler(matcher=lambda event: True, handle_once=True)
+    assert eh.handle_once
+    eh.handle_once = False
+    assert not eh.handle_once
+    # Set bad type
+    with pytest.raises(TypeError):
+        eh.handle_once = 'Not a bool'
+
+
+def test_event_handler_handle_once():
+    """Test the option for handling events once for the EventHandler class."""
+    class MockEvent:
+        ...
+
+    mock_event = MockEvent()
+
+    # Test handling multiple events with handle_once=False (default)
+    eh_multiple = EventHandler(matcher=lambda event: True, handle_once=False)
+    context_multiple = LaunchContext()
+    context_multiple.register_event_handler(eh_multiple)
+    eh_multiple.handle(mock_event, context_multiple)
+    assert context_multiple.locals.event == mock_event
+    # Attempt to handle a second event
+    eh_multiple.handle(mock_event, context_multiple)
+
+    # Test handling multiple events with handle_once=True
+    eh_once = EventHandler(matcher=lambda event: True, handle_once=True)
+    context_once = LaunchContext()
+    context_once.register_event_handler(eh_once)
+    eh_once.handle(mock_event, context_once)
+    assert context_once.locals.event == mock_event
+    # Attempt to handle a second event, this time expect ValueError because it is unregistered
+    with pytest.raises(ValueError):
+        eh_once.handle(mock_event, context_once)