diff --git a/docs/running-on-mesos.md b/docs/running-on-mesos.md
index 8d5ad12cb85be..ce109e18c15fe 100644
--- a/docs/running-on-mesos.md
+++ b/docs/running-on-mesos.md
@@ -516,6 +516,16 @@ See the [configuration page](configuration.html) for information on Spark config
     Fetcher Cache</a>
   </td>
 </tr>
+<tr>
+  <td><code>spark.mesos.checkpoint</code></td>
+  <td>false</td>
+  <td>
+    If set to true, the mesos agents that are running the Spark executors will write the framework pid, executor pids and status updates to disk. 
+    If the agent exits (e.g., due to a crash or as part of upgrading Mesos), this checkpointed data allows the restarted agent to 
+    reconnect to executors that were started by the old instance of the agent. Enabling checkpointing improves fault tolerance,
+    at the cost of a (usually small) increase in disk I/O.
+  </td>
+</tr>
 </table>
 
 # Troubleshooting and Debugging
diff --git a/resource-managers/mesos/src/main/scala/org/apache/spark/deploy/mesos/config.scala b/resource-managers/mesos/src/main/scala/org/apache/spark/deploy/mesos/config.scala
index 19e253394f1b2..6b88f49c820f2 100644
--- a/resource-managers/mesos/src/main/scala/org/apache/spark/deploy/mesos/config.scala
+++ b/resource-managers/mesos/src/main/scala/org/apache/spark/deploy/mesos/config.scala
@@ -56,4 +56,15 @@ package object config {
       .stringConf
       .createOptional
 
+  private[spark] val CHECKPOINT =
+    ConfigBuilder("spark.mesos.checkpoint")
+        .doc("If set to true, the agents that are running the Spark executors will write " +
+          "the framework pid, executor pids and status updates to disk. If the agent exits " +
+          "(e.g., due to a crash or as part of upgrading Mesos), this checkpointed data allows " +
+          "the restarted agent to reconnect to executors that were started by the old instance " +
+          "of the agent. Enabling checkpointing improves fault tolerance, at the cost of a " +
+          "(usually small) increase in disk I/O.")
+      .booleanConf
+      .createOptional
+
 }
diff --git a/resource-managers/mesos/src/main/scala/org/apache/spark/scheduler/cluster/mesos/MesosCoarseGrainedSchedulerBackend.scala b/resource-managers/mesos/src/main/scala/org/apache/spark/scheduler/cluster/mesos/MesosCoarseGrainedSchedulerBackend.scala
index f555072c3842a..0e1a4ee1a06b2 100644
--- a/resource-managers/mesos/src/main/scala/org/apache/spark/scheduler/cluster/mesos/MesosCoarseGrainedSchedulerBackend.scala
+++ b/resource-managers/mesos/src/main/scala/org/apache/spark/scheduler/cluster/mesos/MesosCoarseGrainedSchedulerBackend.scala
@@ -28,6 +28,7 @@ import scala.concurrent.Future
 import org.apache.mesos.Protos.{TaskInfo => MesosTaskInfo, _}
 
 import org.apache.spark.{SecurityManager, SparkContext, SparkException, TaskState}
+import org.apache.spark.deploy.mesos.config._
 import org.apache.spark.network.netty.SparkTransportConf
 import org.apache.spark.network.shuffle.mesos.MesosExternalShuffleClient
 import org.apache.spark.rpc.RpcEndpointAddress
@@ -158,7 +159,7 @@ private[spark] class MesosCoarseGrainedSchedulerBackend(
       sc.appName,
       sc.conf,
       sc.conf.getOption("spark.mesos.driver.webui.url").orElse(sc.ui.map(_.webUrl)),
-      None,
+      sc.conf.get(CHECKPOINT),
       None,
       sc.conf.getOption("spark.mesos.driver.frameworkId")
     )
diff --git a/resource-managers/mesos/src/test/scala/org/apache/spark/scheduler/cluster/mesos/MesosCoarseGrainedSchedulerBackendSuite.scala b/resource-managers/mesos/src/test/scala/org/apache/spark/scheduler/cluster/mesos/MesosCoarseGrainedSchedulerBackendSuite.scala
index cdb3b68489654..08195368498d1 100644
--- a/resource-managers/mesos/src/test/scala/org/apache/spark/scheduler/cluster/mesos/MesosCoarseGrainedSchedulerBackendSuite.scala
+++ b/resource-managers/mesos/src/test/scala/org/apache/spark/scheduler/cluster/mesos/MesosCoarseGrainedSchedulerBackendSuite.scala
@@ -139,6 +139,40 @@ class MesosCoarseGrainedSchedulerBackendSuite extends SparkFunSuite
     assert(cpus == offerCores)
   }
 
+  test("mesos supports checkpointing") {
+
+    val checkpoint = true
+    setBackend(Map("spark.mesos.checkpoint" -> checkpoint.toString,
+      "spark.mesos.driver.webui.url" -> "http://webui"))
+
+    val taskScheduler = mock[TaskSchedulerImpl]
+    when(taskScheduler.sc).thenReturn(sc)
+    val driver = mock[SchedulerDriver]
+    when(driver.start()).thenReturn(Protos.Status.DRIVER_RUNNING)
+    val securityManager = mock[SecurityManager]
+
+    val backend = new MesosCoarseGrainedSchedulerBackend(
+      taskScheduler, sc, "master", securityManager) {
+      override protected def createSchedulerDriver(
+        masterUrl: String,
+        scheduler: Scheduler,
+        sparkUser: String,
+        appName: String,
+        conf: SparkConf,
+        webuiUrl: Option[String] = None,
+        checkpoint: Option[Boolean] = None,
+        failoverTimeout: Option[Double] = None,
+        frameworkId: Option[String] = None): SchedulerDriver = {
+        markRegistered()
+        assert(checkpoint.contains(true))
+        driver
+      }
+    }
+
+    backend.start()
+
+  }
+
   test("mesos does not acquire more than spark.cores.max") {
     val maxCores = 10
     setBackend(Map("spark.cores.max" -> maxCores.toString))