diff --git a/pkg/app/launcher/cmd/launcher/launcher.go b/pkg/app/launcher/cmd/launcher/launcher.go
index f6abfcdd48..793832d833 100644
--- a/pkg/app/launcher/cmd/launcher/launcher.go
+++ b/pkg/app/launcher/cmd/launcher/launcher.go
@@ -37,10 +37,12 @@ import (
 	"sigs.k8s.io/yaml"
 
 	"github.com/pipe-cd/pipecd/pkg/admin"
+	"github.com/pipe-cd/pipecd/pkg/app/piped/apistore/commandstore"
 	"github.com/pipe-cd/pipecd/pkg/app/server/service/pipedservice"
 	"github.com/pipe-cd/pipecd/pkg/cli"
 	"github.com/pipe-cd/pipecd/pkg/config"
 	"github.com/pipe-cd/pipecd/pkg/git"
+	"github.com/pipe-cd/pipecd/pkg/model"
 	"github.com/pipe-cd/pipecd/pkg/rpc/rpcauth"
 	"github.com/pipe-cd/pipecd/pkg/rpc/rpcclient"
 	"github.com/pipe-cd/pipecd/pkg/version"
@@ -80,12 +82,22 @@ type launcher struct {
 	configRepo git.Repo
 	clientKey  string
 	client     pipedservice.Client
+
+	commandCh        chan model.ReportableCommand
+	prevCommands     map[string]struct{}
+	commandLister    commandLister
+	restartCommanded bool
+}
+
+type commandLister interface {
+	ListPipedCommands() []model.ReportableCommand
 }
 
 func NewCommand() *cobra.Command {
 	l := &launcher{
 		checkInterval: time.Minute,
 		gracePeriod:   30 * time.Second,
+		commandCh:     make(chan model.ReportableCommand),
 	}
 	cmd := &cobra.Command{
 		Use:   "launcher",
@@ -220,6 +232,32 @@ func (l *launcher) run(ctx context.Context, input cli.Input) error {
 		l.configRepo = repo
 	}
 
+	spec, err := l.getSpec(ctx)
+	if err != nil {
+		input.Logger.Error(err.Error(), zap.Error(err))
+	}
+
+	pipedKey, err := spec.LoadPipedKey()
+	if err != nil {
+		input.Logger.Error("failed to load piped key", zap.Error(err))
+		return err
+	}
+
+	// Make gRPC client and connect to the API.
+	apiClient, err := l.createAPIClient(ctx, spec.APIAddress, spec.ProjectID, spec.PipedID, pipedKey)
+	if err != nil {
+		input.Logger.Error("failed to create gRPC client to control plane", zap.Error(err))
+		return err
+	}
+
+	{
+		store := commandstore.NewStore(apiClient, time.Minute, input.Logger)
+		group.Go(func() error {
+			return store.Run(ctx)
+		})
+		l.commandLister = store.Lister()
+	}
+
 	var (
 		runningPiped *command
 		workingDir   = filepath.Join(l.homeDir, "piped")
@@ -267,6 +305,31 @@ func (l *launcher) run(ctx context.Context, input cli.Input) error {
 		return nil
 	}
 
+	commandHandler := func(ctx context.Context, cmdCh <-chan model.ReportableCommand) error {
+		input.Logger.Info("started a worker for handling restart piped command")
+		for {
+			select {
+			case cmd := <-cmdCh:
+				if err := l.handleCommand(ctx, input, cmd); err != nil {
+					return err
+				}
+
+			case <-ctx.Done():
+				input.Logger.Info("a worker has been stopped")
+				return nil
+			}
+		}
+	}
+	group.Go(func() error {
+		if err := commandHandler(ctx, l.commandCh); err != nil {
+			input.Logger.Info("LAUNCHER: failed to handle restart piped command",
+				zap.Error(err),
+			)
+			return err
+		}
+		return nil
+	})
+
 	group.Go(func() error {
 		// Execute the first time immediately.
 		if err := execute(); err != nil {
@@ -279,6 +342,7 @@ func (l *launcher) run(ctx context.Context, input cli.Input) error {
 			select {
 			case <-ticker.C:
 				// Don't return an error to continue piped execution.
+				l.enqueueNewCommands(ctx, input)
 				execute()
 
 			case <-ctx.Done():
@@ -302,35 +366,105 @@ func (l *launcher) run(ctx context.Context, input cli.Input) error {
 	return nil
 }
 
+func (l *launcher) enqueueNewCommands(ctx context.Context, input cli.Input) {
+	input.Logger.Info("LAUNCHER: fetching unhandled commands to enqueue")
+
+	commands := l.commandLister.ListPipedCommands()
+	if len(commands) == 0 {
+		input.Logger.Debug("LAUNCHER: there is no command to enqueue")
+		return
+	}
+
+	news := make([]model.ReportableCommand, 0, len(commands))
+	cmds := make(map[string]struct{}, len(commands))
+	for _, cmd := range commands {
+		cmds[cmd.Id] = struct{}{}
+		if _, ok := l.prevCommands[cmd.Id]; !ok {
+			news = append(news, cmd)
+		}
+	}
+
+	if len(news) == 0 {
+		input.Logger.Debug("LAUNCHER: there is no new command to enqueue")
+		return
+	}
+
+	l.prevCommands = cmds
+	input.Logger.Info(fmt.Sprintf("LAUNCHER: will enqueue %d new commands", len(news)))
+
+	for _, cmd := range news {
+		select {
+		case l.commandCh <- cmd:
+			input.Logger.Info("LAUNCHER: queued a new command", zap.String("command", cmd.Id))
+
+		case <-ctx.Done():
+			return
+		}
+	}
+}
+
+func (l *launcher) handleCommand(ctx context.Context, input cli.Input, cmd model.ReportableCommand) error {
+	logger := input.Logger.With(
+		zap.String("command", cmd.Id),
+	)
+
+	if cmd.IsRestartPipedCmd() {
+		l.restartCommanded = true
+	}
+
+	if err := cmd.Report(ctx, model.CommandStatus_COMMAND_SUCCEEDED, nil, []byte(cmd.Id)); err != nil {
+		logger.Error("LAUNCHER: failed to report command status", zap.Error(err))
+		return err
+	}
+
+	input.Logger.Info("LAUNCHER: successfully handled command", zap.String("command", cmd.Id))
+	return nil
+}
+
+// getSpec returns launcher's spec.
+func (l *launcher) getSpec(ctx context.Context) (*config.LauncherSpec, error) {
+	config, err := l.loadConfigData(ctx)
+	if err != nil {
+		return nil, fmt.Errorf("LAUNCHER: error on loading Piped configuration data")
+	}
+
+	spec, err := parseConfig(config)
+	if err != nil {
+		return nil, fmt.Errorf("LAUNCHER: error on parsing Piped configuration data")
+	}
+
+	return spec, nil
+}
+
 // shouldRelaunch fetches the latest state of desired version and config
 // to determine whether a new Piped should be launched or not.
+// This also takes into account whether or not a command
+// has been received to make the restart decision.
 // This also returns the desired version and config.
 func (l *launcher) shouldRelaunch(ctx context.Context, logger *zap.Logger) (version string, config []byte, should bool, err error) {
-	config, err = l.loadConfigData(ctx)
+	spec, err := l.getSpec(ctx)
 	if err != nil {
-		logger.Error("LAUNCHER: error on loading Piped configuration data", zap.Error(err))
-		return
+		logger.Error(err.Error(), zap.Error(err))
 	}
 
-	cfg, err := parseConfig(config)
-	if err != nil {
-		logger.Error("LAUNCHER: error on parsing Piped configuration data", zap.Error(err))
-		return
-	}
-
-	pipedKey, err := cfg.LoadPipedKey()
+	pipedKey, err := spec.LoadPipedKey()
 	if err != nil {
 		logger.Error("LAUNCHER: error on loading Piped key", zap.Error(err))
 		return
 	}
 
-	version, err = l.getDesiredVersion(ctx, cfg.APIAddress, cfg.ProjectID, cfg.PipedID, pipedKey, logger)
+	version, err = l.getDesiredVersion(ctx, spec.APIAddress, spec.ProjectID, spec.PipedID, pipedKey, logger)
 	if err != nil {
 		logger.Error("LAUNCHER: error on checking desired version", zap.Error(err))
 		return
 	}
 
-	should = version != l.runningVersion || !bytes.Equal(config, l.runningConfigData)
+	should = version != l.runningVersion || !bytes.Equal(config, l.runningConfigData) || l.restartCommanded
+
+	if l.restartCommanded {
+		l.restartCommanded = false
+	}
+
 	return
 }
 
diff --git a/pkg/app/piped/apistore/commandstore/store.go b/pkg/app/piped/apistore/commandstore/store.go
index a735919d7d..26ac4b642c 100644
--- a/pkg/app/piped/apistore/commandstore/store.go
+++ b/pkg/app/piped/apistore/commandstore/store.go
@@ -36,13 +36,14 @@ type Store interface {
 	Lister() Lister
 }
 
-// Lister helps list comands.
+// Lister helps list commands.
 // All objects returned here must be treated as read-only.
 type Lister interface {
 	ListApplicationCommands() []model.ReportableCommand
 	ListDeploymentCommands() []model.ReportableCommand
 	ListStageCommands(deploymentID, stageID string) []model.ReportableCommand
 	ListBuildPlanPreviewCommands() []model.ReportableCommand
+	ListPipedCommands() []model.ReportableCommand
 }
 
 type store struct {
@@ -54,6 +55,7 @@ type store struct {
 	deploymentCommands  []model.ReportableCommand
 	stageCommands       []model.ReportableCommand
 	planPreviewCommands []model.ReportableCommand
+	pipedCommands       []model.ReportableCommand
 	handledCommands     map[string]time.Time
 	mu                  sync.RWMutex
 	gracePeriod         time.Duration
@@ -119,6 +121,7 @@ func (s *store) sync(ctx context.Context) error {
 		deploymentCommands  = make([]model.ReportableCommand, 0)
 		stageCommands       = make([]model.ReportableCommand, 0)
 		planPreviewCommands = make([]model.ReportableCommand, 0)
+		pipedCommands       = make([]model.ReportableCommand, 0)
 	)
 	for _, cmd := range resp.Commands {
 		switch cmd.Type {
@@ -130,6 +133,8 @@ func (s *store) sync(ctx context.Context) error {
 			stageCommands = append(stageCommands, s.makeReportableCommand(cmd))
 		case model.Command_BUILD_PLAN_PREVIEW:
 			planPreviewCommands = append(planPreviewCommands, s.makeReportableCommand(cmd))
+		case model.Command_RESTART_PIPED:
+			pipedCommands = append(pipedCommands, s.makeReportableCommand(cmd))
 		}
 	}
 
@@ -138,6 +143,7 @@ func (s *store) sync(ctx context.Context) error {
 	s.deploymentCommands = deploymentCommands
 	s.stageCommands = stageCommands
 	s.planPreviewCommands = planPreviewCommands
+	s.pipedCommands = pipedCommands
 	s.mu.Unlock()
 
 	return nil
@@ -219,6 +225,20 @@ func (s *store) ListBuildPlanPreviewCommands() []model.ReportableCommand {
 	return commands
 }
 
+func (s *store) ListPipedCommands() []model.ReportableCommand {
+	s.mu.RLock()
+	defer s.mu.RUnlock()
+
+	commands := make([]model.ReportableCommand, 0, len(s.pipedCommands))
+	for _, cmd := range s.pipedCommands {
+		if _, ok := s.handledCommands[cmd.Id]; ok {
+			continue
+		}
+		commands = append(commands, cmd)
+	}
+	return commands
+}
+
 func (s *store) makeReportableCommand(c *model.Command) model.ReportableCommand {
 	return model.ReportableCommand{
 		Command: c,
diff --git a/pkg/model/command.go b/pkg/model/command.go
index 3a9270e739..a014cc7244 100644
--- a/pkg/model/command.go
+++ b/pkg/model/command.go
@@ -37,6 +37,10 @@ func (c *Command) IsChainSyncApplicationCmd() bool {
 	return c.GetChainSyncApplication() != nil
 }
 
+func (c *Command) IsRestartPipedCmd() bool {
+	return c.GetRestartPiped() != nil
+}
+
 func (c *Command) SetUpdatedAt(t int64) {
 	c.UpdatedAt = t
 }