diff --git a/rclpy/rclpy/duration.py b/rclpy/rclpy/duration.py
index 50ef7f9cd..4fde06f38 100644
--- a/rclpy/rclpy/duration.py
+++ b/rclpy/rclpy/duration.py
@@ -35,7 +35,7 @@ def __repr__(self):
         return 'Duration(nanoseconds={0})'.format(self.nanoseconds)
 
     def __str__(self):
-        if self == Duration.Infinite():
+        if self == Infinite:
             return 'Infinite'
         return f'{self.nanoseconds} nanoseconds'
 
@@ -82,9 +82,9 @@ def from_msg(cls, msg):
             raise TypeError('Must pass a builtin_interfaces.msg.Duration object')
         return cls(seconds=msg.sec, nanoseconds=msg.nanosec)
 
-    @classmethod
-    def Infinite(cls):
-        return cls(nanoseconds=_rclpy.RMW_DURATION_INFINITE)
-
     def get_c_duration(self):
         return self._duration_handle
+
+
+# Constant representing an infinite amount of time.
+Infinite = Duration(nanoseconds=_rclpy.RMW_DURATION_INFINITE)
diff --git a/rclpy/test/test_time.py b/rclpy/test/test_time.py
index bf69b4936..c89aa0a4b 100644
--- a/rclpy/test/test_time.py
+++ b/rclpy/test/test_time.py
@@ -16,6 +16,7 @@
 
 from rclpy.clock import ClockType
 from rclpy.duration import Duration
+from rclpy.duration import Infinite
 from rclpy.time import Time
 
 from test_msgs.msg import Builtins
@@ -230,5 +231,5 @@ def test_seconds_nanoseconds(self):
         assert (0, 0) == Time().seconds_nanoseconds()
 
     def test_infinite_duration(self):
-        duration = Duration.Infinite()
+        duration = Infinite
         assert str(duration) == 'Infinite'