diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7fe7ba8f65..a41963e369 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -39,6 +39,7 @@ All notable changes to this project are documented in this file.
 - `Catch2` is now downloaded with `FetchContent` if `BUILD_TESTING` is set to `ON` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/655)
 - The tests now uses`Catch2 v3` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/655)
 - Add the possibility to set vectorial gains in CoM IK and TSID tasks (https://github.com/ami-iit/bipedal-locomotion-framework/pull/656)
+- Add some useful methods to the `SubModel` and `SubModelKinDynWrapper` classes (https://github.com/ami-iit/bipedal-locomotion-framework/pull/661)
 
 ### Fixed
 - Return an error if an invalid `KinDynComputations` object is passed to `QPInverseKinematics::build()` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/622)