diff --git a/mojo/elements/element.py b/mojo/elements/element.py
index fde7427..44ed9e0 100644
--- a/mojo/elements/element.py
+++ b/mojo/elements/element.py
@@ -18,6 +18,10 @@ def __init__(self, mojo: Mojo, mjcf_elem: mjcf.RootElement):
     def mjcf(self):
         return self._mjcf_elem
 
+    @property
+    def id(self):
+        return self._mojo.physics.bind(self.mjcf).element_id
+
     def __eq__(self, other):
         return (
             isinstance(other, MujocoElement)