diff --git a/configuration/packages/costmap-plugins/static.rst b/configuration/packages/costmap-plugins/static.rst
index 2b8efe957..dacb33d1f 100644
--- a/configuration/packages/costmap-plugins/static.rst
+++ b/configuration/packages/costmap-plugins/static.rst
@@ -18,6 +18,17 @@ This implements a costmap layer taking in a map from either SLAM or ``map_server
   Description
     Whether it is enabled.
 
+:``<static layer>``.footprint_clearing_enabled:
+
+  ==== =======
+  Type Default                                                   
+  ---- -------
+  bool False            
+  ==== =======
+
+  Description
+    Clear any occupied cells under robot footprint.
+
 :``<static layer>``.subscribe_to_updates:
 
   ==== =======
diff --git a/migration/Iron.rst b/migration/Iron.rst
index 548bdb381..f624f7d36 100644
--- a/migration/Iron.rst
+++ b/migration/Iron.rst
@@ -333,3 +333,8 @@ Standardization of Plugin Naming with Double Colons (::)
 Collision monitor: dynamic radius for circle type polygons
 **********************************************************
 `PR #4226 <https://github.com/ros-planning/navigation2/pull/4226>`_ introduces usage of parameter ``<polygon_name>.polygon_sub_topic`` for circle type polygons. If parameter ``<polygon_name>.radius`` is not set, collision monitor node subscribes to topic ``<polygon_name>.polygon_sub_topic`` (subscription type is ``std_msgs/msg/Float32``), and the current circle polygon radius will be updating accordingly to received messages on topic.
+
+
+Static Layer: new parameter ``footprint_clearing_enabled``
+**********************************************************
+`PR #4282 <https://github.com/ros-planning/navigation2/pull/4282>`_ introduces usage of parameter ``footprint_clearing_enabled`` for the static layer. It works similarly to the ``footprint_clearing_enabled`` parameter in the obstacle and voxel layer. If set to ``true``, the static layer will clear the costmap cells that are within the robot's footprint. It is ``false`` by default to keep the previous behavior.