diff --git a/Changelog.md b/Changelog.md
index 482715c1a..3dd6aea1a 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -139,6 +139,11 @@
 
 ## Gazebo Physics 5.x
 
+### Gazebo Physics 5.3.1 (2023-02-16)
+
+1. Fix memory corruption due to faulty refcount tracking
+    * [Pull request #480](https://github.com/gazebosim/gz-physics/pull/480)
+
 ### Gazebo Physics 5.3.0 (2023-01-09)
 
 1. Fix windows warnings related to bullet
@@ -509,6 +514,14 @@
 
 ## Gazebo Physics 2.x
 
+### Gazebo Physics 2.6.1 (2023-01-09)
+
+1. Fix build errors and warnings for DART 6.13.0
+    * [Pull request #465](https://github.com/gazebosim/gz-physics/pull/465)
+
+1. Don't install CMakeLists.txt files
+    * [Pull request #456](https://github.com/gazebosim/gz-physics/pull/456)
+
 ### Gazebo Physics 2.6.0 (2022-11-30)
 
 1. Migrate Ignition headers
diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
index dd875886d..97e5a3ea7 100644
--- a/dartsim/src/SDFFeatures.cc
+++ b/dartsim/src/SDFFeatures.cc
@@ -658,11 +658,6 @@ Identity SDFFeatures::ConstructSdfLink(
       ::sdf::JoinName(modelInfo.model->getName(), bn->getName()));
   const std::size_t linkID = this->AddLink(bn, fullName, _modelID, sdfInertia);
 
-  const std::string fullJointName = ::sdf::JoinName(
-      world->getName(),
-      ::sdf::JoinName(modelInfo.model->getName(), joint->getName()));
-  this->AddJoint(joint, fullJointName, _modelID);
-
   auto linkIdentity = this->GenerateIdentity(linkID, this->links.at(linkID));
 
   if (sdfInertia.FluidAddedMass().has_value())