diff --git a/CHANGELOG.md b/CHANGELOG.md
index f0007243e05..fa6975c6d9a 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -31,6 +31,23 @@ Mapbox welcomes participation and contributions from everyone.
 - Fixed an issue where the first voice instruction might have been played twice. [#6766](https://github.com/mapbox/mapbox-navigation-android/pull/6766)
 - Changed distance formatting: now all the imperial distances down to 0.1 miles will be represented in miles, while the smaller ones - in feet. [#6775](https://github.com/mapbox/mapbox-navigation-android/pull/6775)
 
+## Mapbox Navigation SDK 2.9.6 - 10 January, 2023
+### Changelog
+[Changes between v2.9.5 and v2.9.6](https://github.com/mapbox/mapbox-navigation-android/compare/v2.9.5...v2.9.6)
+
+#### Bug fixes and improvements
+
+- Ensure map-matching considers HOV-only roads as auto accessible. [#6785](https://github.com/mapbox/mapbox-navigation-android/pull/6785)
+
+### Mapbox dependencies
+This release depends on, and has been tested with, the following Mapbox dependencies:
+- Mapbox Maps SDK `v10.9.0` ([release notes](https://github.com/mapbox/mapbox-maps-android/releases/tag/v10.9.0))
+- Mapbox Navigation Native `v119.0.6`
+- Mapbox Core Common `v23.1.1`
+- Mapbox Java `v6.9.0` ([release notes](https://github.com/mapbox/mapbox-java/releases/tag/v6.9.0))
+- Mapbox Android Core `v5.0.2` ([release notes](https://github.com/mapbox/mapbox-events-android/releases/tag/core-5.0.2))
+
+
 ## Mapbox Navigation SDK 2.8.2 - 10 January, 2023
 ### Changelog
 [Changes between v2.8.1 and v2.8.2](https://github.com/mapbox/mapbox-navigation-android/compare/v2.8.1...v2.8.2)