diff --git a/ros2lifecycle/ros2lifecycle/verb/set.py b/ros2lifecycle/ros2lifecycle/verb/set.py
index 2738cd88a..aa6d9bde9 100644
--- a/ros2lifecycle/ros2lifecycle/verb/set.py
+++ b/ros2lifecycle/ros2lifecycle/verb/set.py
@@ -40,7 +40,9 @@ def add_arguments(self, parser, cli_name):  # noqa: D102
             '--include-hidden-nodes', action='store_true',
             help='Consider hidden nodes as well')
         parser.add_argument(
-            'transition', help='The lifecycle transition')
+            'transition',
+            help='The lifecycle transition. Use `ros2 lifecycle list NODE_NAME` '
+                 'to see transitions available from the current state')
         parser.add_argument(
             '--timeout', metavar='N', type=float,
             help='Maximum time to wait for response in seconds '