diff --git a/CMakeLists.txt b/CMakeLists.txt
index cb89597..a5ca804 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -41,6 +41,7 @@ endif()
 add_library(${PROJECT_NAME} SHARED
     src/message.cpp
     src/writer.cpp
+    src/reader.cpp
     src/3rdparty.cpp
 )
 target_link_libraries(${PROJECT_NAME}
diff --git a/include/pjmsg_mcap_wrapper/all.h b/include/pjmsg_mcap_wrapper/all.h
index 29ddf6a..cc55fec 100644
--- a/include/pjmsg_mcap_wrapper/all.h
+++ b/include/pjmsg_mcap_wrapper/all.h
@@ -7,4 +7,5 @@
 
 #pragma once
 
+#include "reader.h"
 #include "writer.h"
diff --git a/include/pjmsg_mcap_wrapper/reader.h b/include/pjmsg_mcap_wrapper/reader.h
new file mode 100644
index 0000000..63e2a90
--- /dev/null
+++ b/include/pjmsg_mcap_wrapper/reader.h
@@ -0,0 +1,31 @@
+/**
+    @file
+    @author Alexander Sherikov, Damien SIX
+    @copyright 2025-2026 Alexander Sherikov. Licensed under the Apache License,
+    Version 2.0. (see LICENSE or http://www.apache.org/licenses/LICENSE-2.0)
+*/
+
+#pragma once
+
+#include "message.h"
+
+namespace pjmsg_mcap_wrapper
+{
+    class PJMSG_MCAP_WRAPPER_PUBLIC Reader
+    {
+    protected:
+        class Implementation;
+
+    protected:
+        const std::unique_ptr<Implementation> pimpl_;
+
+    public:
+        Reader();
+        ~Reader();
+
+        void initialize(const std::filesystem::path &filename, const std::string &topic_prefix);
+
+        /// Get next pjmsg_mcap_wrapper message
+        bool next(Message &message);
+    };
+}  // namespace pjmsg_mcap_wrapper
diff --git a/src/reader.cpp b/src/reader.cpp
new file mode 100644
index 0000000..e5efe8d
--- /dev/null
+++ b/src/reader.cpp
@@ -0,0 +1,155 @@
+/**
+    @file
+    @author Alexander Sherikov, Damien SIX
+    @copyright 2025-2026 Alexander Sherikov. Licensed under the Apache License,
+    Version 2.0. (see LICENSE or http://www.apache.org/licenses/LICENSE-2.0)
+    @brief
+*/
+
+#include "pjmsg_mcap_wrapper/reader.h"
+#include "3rdparty.h"
+#include "util.h"
+
+#pragma GCC diagnostic push
+/// @todo presumably GCC bug
+#pragma GCC diagnostic ignored "-Warray-bounds"
+#include <mcap/reader.hpp>
+#pragma GCC diagnostic pop
+
+#include <fstream>
+#include <unordered_map>
+
+
+namespace pjmsg_mcap_wrapper
+{
+    class Reader::Implementation
+    {
+    protected:
+        class MCAPAccessor
+        {
+        public:
+            mcap::LinearMessageView view_;
+            mcap::LinearMessageView::Iterator iterator_;
+
+        public:
+            explicit MCAPAccessor(mcap::McapReader &reader) : view_(reader.readMessages()), iterator_(view_.begin())
+            {
+            }
+        };
+
+    protected:
+        template <class t_Message>
+        static void deserialize(const mcap::Message &mcap_message, t_Message &message)
+        {
+            eprosima::fastcdr::FastBuffer cdr_buffer(
+                    reinterpret_cast<char *>(const_cast<std::byte *>(mcap_message.data)),  // NOLINT
+                    mcap_message.dataSize);
+            eprosima::fastcdr::Cdr deserializer(
+                    cdr_buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN, eprosima::fastcdr::CdrVersion::XCDRv1);
+
+            deserializer.read_encapsulation();
+            deserializer >> message;
+        }
+
+    public:
+        mcap::ChannelId names_channel_id_;
+        mcap::ChannelId values_channel_id_;
+
+        std::unordered_map<uint32_t, plotjuggler_msgs::msg::StatisticsNames> names_;
+
+        mcap::McapReader reader_;
+        std::unique_ptr<MCAPAccessor> accessor_;
+
+    public:
+        Implementation() = default;
+
+        ~Implementation()
+        {
+            reader_.close();
+        }
+
+        void initialize(const std::filesystem::path &filename, const std::string &topic_prefix)
+        {
+            const mcap::Status res = reader_.open(filename.string());
+            SHARF_THROW_IF(not res.ok(), "Failed to open MCAP file: ", res.message);
+
+            // Read the summary section to populate internal indexes (channels, schemas, etc.)
+            const mcap::Status summary_res = reader_.readSummary(mcap::ReadSummaryMethod::AllowFallbackScan);
+            SHARF_THROW_IF(not summary_res.ok(), "Failed to read MCAP summary: ", summary_res.message);
+
+
+            // Find and set channel IDs for our message types
+            const std::string names_topic = str_concat(topic_prefix, "/names");
+            const std::string values_topic = str_concat(topic_prefix, "/values");
+            for (auto const &it : reader_.channels())
+            {
+                if (it.second->topic == names_topic)
+                {
+                    names_channel_id_ = it.first;
+                }
+                else if (it.second->topic == values_topic)
+                {
+                    values_channel_id_ = it.first;
+                }
+            }
+
+            accessor_ = std::make_unique<MCAPAccessor>(reader_);
+        }
+
+        bool next(Message &message)
+        {
+            while (accessor_->iterator_ != accessor_->view_.end())
+            {
+                if (accessor_->iterator_->message.channelId == names_channel_id_)
+                {
+                    plotjuggler_msgs::msg::StatisticsNames names;
+                    deserialize(accessor_->iterator_->message, names);
+                    SHARF_THROW_IF(
+                            names_.find(names.names_version()) != names_.end(),
+                            "Format error: reused names version id");
+                    names_.emplace(names.names_version(), std::move(names));
+                }
+                else if (accessor_->iterator_->message.channelId == values_channel_id_)
+                {
+                    plotjuggler_msgs::msg::StatisticsValues values;
+                    deserialize(accessor_->iterator_->message, values);
+                    /// @todo Ordering may be off
+                    SHARF_THROW_IF(names_.find(values.names_version()) == names_.end(), "Unknown names version id");
+
+                    message.setVersion(values.names_version());
+                    message.setStamp(
+                            (static_cast<uint64_t>(values.header().stamp().sec()) * std::nano::den)
+                            + values.header().stamp().nanosec());
+
+                    message.names() = names_[values.names_version()].names();
+                    message.values() = std::move(values.values());
+
+                    ++accessor_->iterator_;
+                    return (true);
+                }
+                ++accessor_->iterator_;
+            }
+            return (false);
+        }
+    };
+}  // namespace pjmsg_mcap_wrapper
+
+
+namespace pjmsg_mcap_wrapper
+{
+    Reader::Reader() : pimpl_(std::make_unique<Reader::Implementation>())
+    {
+    }
+
+    Reader::~Reader() = default;
+
+    void Reader::initialize(const std::filesystem::path &filename, const std::string &topic_prefix)
+    {
+        pimpl_->initialize(filename, topic_prefix);
+    }
+
+    bool Reader::next(Message &message)
+    {
+        return pimpl_->next(message);
+    }
+}  // namespace pjmsg_mcap_wrapper