diff --git a/launch/launch/substitutions/__init__.py b/launch/launch/substitutions/__init__.py
index 7fa7170e7..2e677c904 100644
--- a/launch/launch/substitutions/__init__.py
+++ b/launch/launch/substitutions/__init__.py
@@ -25,6 +25,7 @@
 from .equals_substitution import EqualsSubstitution
 from .file_content import FileContent
 from .find_executable import FindExecutable
+from .find_launchfile import FindLaunchfile
 from .for_loop_var import ForEachVar
 from .for_loop_var import ForLoopIndex
 from .if_else_substitution import IfElseSubstitution
@@ -51,6 +52,7 @@
     'EnvironmentVariable',
     'FileContent',
     'FindExecutable',
+    'FindLaunchfile',
     'ForEachVar',
     'ForLoopIndex',
     'IfElseSubstitution',
diff --git a/launch/launch/substitutions/find_launchfile.py b/launch/launch/substitutions/find_launchfile.py
new file mode 100644
index 000000000..baab8414b
--- /dev/null
+++ b/launch/launch/substitutions/find_launchfile.py
@@ -0,0 +1,126 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Module for the FindLaunchfile substitution."""
+
+from pathlib import Path
+from typing import Any
+from typing import Dict
+from typing import List
+from typing import Sequence
+from typing import Text
+from typing import Tuple
+from typing import Type
+
+
+from .substitution_failure import SubstitutionFailure
+from ..frontend import expose_substitution
+from ..launch_context import LaunchContext
+from ..some_substitutions_type import SomeSubstitutionsType
+from ..substitution import Substitution
+
+
+def name_matches_launchfile(name: Text, file: Path) -> bool:
+    from ..frontend import Parser  # avoid circular import
+    valid_extensions = {'py', *Parser.get_available_extensions()}
+    valid_suffixes = {'', '.launch', '_launch'}
+
+    if not file.is_file():
+        return False
+
+    # Check if the file has a valid launch extension
+    extension = file.suffix
+    if extension.startswith('.'):
+        extension = extension[1:]
+    if extension not in valid_extensions:
+        return False
+
+    # Full filenames allowed, check for full match
+    if name == file.name:
+        return True
+
+    remainder = file.stem.removeprefix(name)
+    if remainder == file.stem:
+        # The filename did not begin with the search name
+        return False
+    elif remainder in valid_suffixes:
+        return True
+
+    return False
+
+
+def find_launchfile_in_path(name: Text, path: Path) -> List[Path]:
+    return [file for file in path.iterdir() if name_matches_launchfile(name, file)]
+
+
+@expose_substitution('find-launchfile')
+class FindLaunchfile(Substitution):
+    """
+    Substitution that tries to locate a launchfile by stem name in a directory.
+
+    :raise: SubstitutionFailure on invalid search directory
+    :raise: SubstitutionFailure when no matching launchfiles found
+    :raise: SubstitutionFailure when more than 1 matching files found
+    """
+
+    def __init__(self, *, name: SomeSubstitutionsType, path: SomeSubstitutionsType) -> None:
+        """Create a FindLaunchfile substitution."""
+        super().__init__()
+
+        from ..utilities import normalize_to_list_of_substitutions  # import here to avoid loop
+        self.__name = normalize_to_list_of_substitutions(name)
+        self.__path = normalize_to_list_of_substitutions(path)
+
+    @classmethod
+    def parse(cls, data: Sequence[SomeSubstitutionsType]
+              ) -> Tuple[Type['FindLaunchfile'], Dict[str, Any]]:
+        """Parse `FindLaunchfile` substitution."""
+        if len(data) != 2:
+            raise AttributeError(
+                f'find-launchfile substitution expects 2 argument, {len(data)} given')
+        return cls, {'name': data[0], 'path': data[1]}
+
+    @property
+    def name(self) -> List[Substitution]:
+        """Getter for name."""
+        return self.__name
+
+    @property
+    def path(self) -> List[Substitution]:
+        """Getter for path."""
+        return self.__path
+
+    def describe(self) -> Text:
+        """Return a description of this substitution as a string."""
+        name = ' + '.join([sub.describe() for sub in self.name])
+        path = ' + '.join([sub.describe() for sub in self.path])
+        return f'FindLaunchfile(name={name}, path={path})'
+
+    def perform(self, context: LaunchContext) -> Text:
+        """Perform the substitution by locating the executable on the PATH."""
+        from ..utilities import perform_substitutions  # import here to avoid loop
+        name = perform_substitutions(context, self.name)
+        path = Path(perform_substitutions(context, self.path))
+        if not path.is_dir():
+            raise SubstitutionFailure(f"Path '{path}' is not a directory")
+
+        results = find_launchfile_in_path(name, path)
+        if len(results) == 0:
+            raise SubstitutionFailure(
+                f"No launchfile matching name '{name}' found in directory '{path}'")
+        elif len(results) > 1:
+            raise SubstitutionFailure(
+                f"Multiple launchfiles matching name '{name}' "
+                f"found in directory '{path}': {results}")
+        return str(results[0])
diff --git a/launch/test/launch/substitutions/test_find_launchfile.py b/launch/test/launch/substitutions/test_find_launchfile.py
new file mode 100644
index 000000000..c040bbed4
--- /dev/null
+++ b/launch/test/launch/substitutions/test_find_launchfile.py
@@ -0,0 +1,79 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+"""Tests for the FindLaunchfile substitution class."""
+
+from pathlib import Path
+
+from launch import LaunchContext
+from launch.frontend import Parser
+from launch.frontend.parse_substitution import parse_substitution
+from launch.substitutions import FindLaunchfile
+from launch.substitutions import SubstitutionFailure
+from launch.utilities import perform_substitutions
+import pytest
+
+TEST_DIR = Path(__file__).parent / 'test_find_launchfile'
+
+
+# Fake some valid extensions, since those packages aren't available here
+@pytest.fixture
+def mock_frontends():
+    Parser.frontend_parsers = {
+        'xml': None,
+        'yaml': None,
+    }
+    Parser.extensions_loaded = True
+    yield
+    Parser.frontend_parsers = None
+    Parser.extensions_loaded = False
+
+
+def test_fullname(mock_frontends):
+    assert FindLaunchfile(name='a_launch.py', path=TEST_DIR).perform(LaunchContext())
+    assert FindLaunchfile(name='a.launch.xml', path=TEST_DIR).perform(LaunchContext())
+    assert FindLaunchfile(name='b_launch.yaml', path=TEST_DIR).perform(LaunchContext())
+    assert FindLaunchfile(name='c.py', path=TEST_DIR).perform(LaunchContext())
+
+
+def test_valid_suffix(mock_frontends):
+    assert FindLaunchfile(name='a_launch', path=TEST_DIR).perform(LaunchContext())
+    assert FindLaunchfile(name='a.launch', path=TEST_DIR).perform(LaunchContext())
+    assert FindLaunchfile(name='b', path=TEST_DIR).perform(LaunchContext())
+    assert FindLaunchfile(name='b_launch', path=TEST_DIR).perform(LaunchContext())
+    assert FindLaunchfile(name='c', path=TEST_DIR).perform(LaunchContext())
+
+
+def test_invalid_suffix(mock_frontends):
+    with pytest.raises(SubstitutionFailure):
+        FindLaunchfile(name='b_l', path=TEST_DIR).perform(LaunchContext())
+
+
+def test_notfound(mock_frontends):
+    with pytest.raises(SubstitutionFailure):
+        FindLaunchfile(name='d', path=TEST_DIR).perform(LaunchContext())
+
+
+def test_multiple(mock_frontends):
+    with pytest.raises(SubstitutionFailure):
+        FindLaunchfile(name='a', path=TEST_DIR).perform(LaunchContext())
+
+
+def test_frontend(mock_frontends):
+    subst = parse_substitution('$(find-launchfile foo bar)')
+    assert len(subst) == 1
+    result = subst[0]
+    assert isinstance(result, FindLaunchfile)
+    assert perform_substitutions(LaunchContext(), result.name) == 'foo'
+    assert perform_substitutions(LaunchContext(), result.path) == 'bar'
diff --git a/launch/test/launch/substitutions/test_find_launchfile/a.launch.xml b/launch/test/launch/substitutions/test_find_launchfile/a.launch.xml
new file mode 100644
index 000000000..01be8527c
--- /dev/null
+++ b/launch/test/launch/substitutions/test_find_launchfile/a.launch.xml
@@ -0,0 +1 @@
+<launch />
diff --git a/launch/test/launch/substitutions/test_find_launchfile/a_launch.py b/launch/test/launch/substitutions/test_find_launchfile/a_launch.py
new file mode 100644
index 000000000..360573ab2
--- /dev/null
+++ b/launch/test/launch/substitutions/test_find_launchfile/a_launch.py
@@ -0,0 +1,19 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+
+
+def generate_launch_description():
+    return LaunchDescription()
diff --git a/launch/test/launch/substitutions/test_find_launchfile/b_launch.yaml b/launch/test/launch/substitutions/test_find_launchfile/b_launch.yaml
new file mode 100644
index 000000000..b315bc20d
--- /dev/null
+++ b/launch/test/launch/substitutions/test_find_launchfile/b_launch.yaml
@@ -0,0 +1 @@
+launch: []
diff --git a/launch/test/launch/substitutions/test_find_launchfile/c.py b/launch/test/launch/substitutions/test_find_launchfile/c.py
new file mode 100644
index 000000000..360573ab2
--- /dev/null
+++ b/launch/test/launch/substitutions/test_find_launchfile/c.py
@@ -0,0 +1,19 @@
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+
+
+def generate_launch_description():
+    return LaunchDescription()