diff --git a/.github/workflows/assemble_changelog.yml b/.github/workflows/assemble_changelog.yml
index 352de2221b9..8d94b800c54 100644
--- a/.github/workflows/assemble_changelog.yml
+++ b/.github/workflows/assemble_changelog.yml
@@ -1,9 +1,7 @@
 name: Assemble changelog
 on:
-  push:
-    branches:
-      - main
-      - release-v**
+  pull_request:
+    types: [ opened, synchronize ]
 jobs:
   process:
     permissions:
@@ -11,6 +9,7 @@ jobs:
       contents: write
     runs-on: ubuntu-20.04
     env:
+      PR_NUMBER: ${{ github.event.pull_request.number }}
       GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
     steps:
       - uses: actions/checkout@v3
diff --git a/changelog/README.md b/changelog/README.md
index 1b621760894..969f30a8eb9 100644
--- a/changelog/README.md
+++ b/changelog/README.md
@@ -26,12 +26,10 @@ If you have implemented several features or bugfixes you should describe all of
 You can choose any name for your changelog files because the GitHub action will rename files in
 `changelog/unreleased/features` and `changelog/unreleased/bugfixes` directories to `${PR_NUMBER}.md` when you open a PR.
 
-Every push to the main or release branch Assemble changelog GitHub action will be executed:
-
-* collect all files from `changelog/unreleased`
-* assemble the changelog like:
+For every PR the script will generate and update a comment with a changelog for the current branch in the following format:
 
 ```
+# Changelog
 #### Features
 - Feature 1 [#1234](https://github.com/mapbox/mapbox-navigation-android/pull/1234)
 - Feature 2 [#2345](https://github.com/mapbox/mapbox-navigation-android/pull/2345)
@@ -47,11 +45,12 @@ Every push to the main or release branch Assemble changelog GitHub action will b
 Some other changes
 ```
 
-* write the changelog to the `changelog/unreleased/CHANGELOG.md` file
+The comment will be updated with every change.
+Also, a comment with a changelog will be generated and updated for the android auto project too.
 
 Every release the release train app will:
 
-* get changelog from `changelog/unreleased/CHANGELOG.md` file
+* assemble the changelog
 * add information about dependencies and compile changelog like:
 ```
 ## Mapbox Navigation SDK 1.1.1 - 13 December, 2022
diff --git a/scripts/changelog/assemble_changelog.py b/scripts/changelog/assemble_changelog.py
index 587c1014050..d99c8ca904f 100644
--- a/scripts/changelog/assemble_changelog.py
+++ b/scripts/changelog/assemble_changelog.py
@@ -1,6 +1,9 @@
 import os
 
-import git
+import requests
+
+pr_number = os.environ['PR_NUMBER']
+token = os.environ['GITHUB_TOKEN']
 
 
 def get_changes(path):
@@ -35,26 +38,29 @@ def get_changes(path):
             '#### Known issues :warning:\n' + issues + '\n\n' + \
             '#### Other changes\n' + other
 
-old_changelog = open('changelog/unreleased/CHANGELOG.md', 'r').read()
-
-if changelog != old_changelog:
-    open('changelog/unreleased/CHANGELOG.md', 'w').write(changelog)
-    repository = git.Repo('.')
-    repository.git.add('changelog/unreleased')
-    repository.index.commit('Assemble changelog file [skip ci]')
-    repository.remotes.origin.push().raise_if_error()
-
 auto_bugfixes = get_changes('libnavui-androidauto/changelog/unreleased/bugfixes/')
 auto_features = get_changes('libnavui-androidauto/changelog/unreleased/features/')
 
 auto_changelog = '#### Features\n' + auto_features + '\n\n' + \
-            '#### Bug fixes and improvements\n' + auto_bugfixes
+                 '#### Bug fixes and improvements\n' + auto_bugfixes
+
+pr_comments_url = 'https://api.github.com/repos/mapbox/mapbox-navigation-android/issues/' + pr_number + '/comments'
+headers = {"Authorization": "Bearer " + token}
+comments = requests.get(pr_comments_url, headers=headers).json()
+
+full_changelog = '<details>\n<summary>Changelog</summary>\n\n' + \
+                 changelog + '</details>\n' + \
+                 '<details>\n<summary>Android Auto Changelog</summary>\n\n' + \
+                 auto_changelog + '</details>'
 
-auto_old_changelog = open('libnavui-androidauto/changelog/unreleased/CHANGELOG.md', 'r').read()
+comment_with_changelog_id = None
+for comment in comments:
+    if comment['body'].startswith('<details>\n<summary>Changelog</summary>\n'):
+        comment_with_changelog_id = comment['id']
 
-if auto_changelog != auto_old_changelog:
-    open('libnavui-androidauto/changelog/unreleased/CHANGELOG.md', 'w').write(auto_changelog)
-    repository = git.Repo('.')
-    repository.git.add('libnavui-androidauto/changelog/unreleased')
-    repository.index.commit('Assemble auto changelog file [skip ci]')
-    repository.remotes.origin.push().raise_if_error()
+if comment_with_changelog_id:
+    comments_url = 'https://api.github.com/repos/mapbox/mapbox-navigation-android/issues/comments/'
+    comment_url = comments_url + str(comment_with_changelog_id)
+    requests.patch(comment_url, json={'body': full_changelog}, headers=headers)
+else:
+    requests.post(pr_comments_url, json={'body': full_changelog}, headers=headers)