diff --git a/python/src/gz/sim/Link.cc b/python/src/gz/sim/Link.cc
index f6c425fcb4..dc286f53a9 100644
--- a/python/src/gz/sim/Link.cc
+++ b/python/src/gz/sim/Link.cc
@@ -191,6 +191,16 @@ void defineSimLink(py::object module)
       "Add a wrench expressed in world coordinates and applied to "
       "the link at an offset from the link's origin. This wrench is applied "
       "for one simulation step.")
+  .def("axis_aligned_box",
+      py::overload_cast<const EntityComponentManager &>
+        (&gz::sim::Link::AxisAlignedBox, py::const_),
+      py::arg("ecm"),
+      "Get the Link's axis-aligned box represented in the link frame.")
+  .def("world_axis_aligned_box",
+      py::overload_cast<const EntityComponentManager &>
+        (&gz::sim::Link::WorldAxisAlignedBox, py::const_),
+      py::arg("ecm"),
+      "Get the Link's axis-aligned box represented in the world frame.")
   .def("__copy__",
       [](const gz::sim::Link &self)
       {
diff --git a/python/test/link_TEST.py b/python/test/link_TEST.py
index d28c48d9e6..cf5858c1e5 100755
--- a/python/test/link_TEST.py
+++ b/python/test/link_TEST.py
@@ -18,7 +18,7 @@
 
 from gz_test_deps.common import set_verbosity
 from gz_test_deps.sim import K_NULL_ENTITY, TestFixture, Link, Model, World, world_entity
-from gz_test_deps.math import Inertiald, Matrix3d, Vector3d, Pose3d
+from gz_test_deps.math import AxisAlignedBox, Inertiald, Matrix3d, Vector3d, Pose3d
 
 class TestModel(unittest.TestCase):
     post_iterations = 0
@@ -88,6 +88,18 @@ def on_pre_udpate_cb(_info, _ecm):
             self.assertEqual(0, link.world_kinetic_energy(_ecm))
             link.enable_velocity_checks(_ecm, False)
             link.enable_acceleration_checks(_ecm, False)
+            # Axis Aligned Box Test
+            # Offset of 0.5 meters along z-axis
+            self.assertEqual(
+                AxisAlignedBox(Vector3d(-0.5, -0.5, 0), Vector3d(0.5, 0.5, 1)),
+                link.axis_aligned_box(_ecm)
+            )
+            # World Axis Aligned Box Test
+            # Same as above since the link is at the origin
+            self.assertEqual(
+                AxisAlignedBox(Vector3d(-0.5, -0.5, 0), Vector3d(0.5, 0.5, 1)),
+                link.world_axis_aligned_box(_ecm)
+            )
 
 
         def on_udpate_cb(_info, _ecm):