diff --git a/Changelog.md b/Changelog.md
index c440bc04..83422296 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -102,3 +102,16 @@ This changelog covers the entire dave project which includes a few repositories,
 
 - Continued updates to conform to new repository layout for the purposes of increasing clarity and ease of maintenance : dave PRs [#143](https://github.com/Field-Robotics-Lab/dave/pull/143), [#145](https://github.com/Field-Robotics-Lab/dave/pull/145), [#149](https://github.com/Field-Robotics-Lab/dave/pull/149) and [#150](https://github.com/Field-Robotics-Lab/dave/pull/143).
 
+## [4.2.0] - 2021-11-05
+
+### Added
+
+- Object model degradation tool.  
+    - 3D mesh modification via Blender script [PR#160](https://github.com/Field-Robotics-Lab/dave/pull/160)
+    - Parameterization proof of concept for SDF friction values via embedded Ruby script [PR#163](https://github.com/Field-Robotics-Lab/dave/pull/163)
+    - Demonstration of addition of custom SDF tags for extending model properties and corresponding influence on sensing [PR#164](https://github.com/Field-Robotics-Lab/dave/pull/164)
+
+### Coming Soon
+
+- Manipulator reaction force interface
+- Electrical flying lead demonstration scenario - incremental improvement [PR#161](https://github.com/Field-Robotics-Lab/dave/pull/161)