diff --git a/docs/running-on-mesos.md b/docs/running-on-mesos.md
index 8d5ad12cb85be..3f5439a287b57 100644
--- a/docs/running-on-mesos.md
+++ b/docs/running-on-mesos.md
@@ -516,6 +516,26 @@ 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, agents running tasks started by this framework 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>
+<tr>
+  <td><code>spark.mesos.failoverTimeout</code></td>
+  <td>0.0</td>
+  <td>
+    The amount of time (in seconds) that the master will wait for the scheduler to failover before it tears down the framework 
+    by killing all its tasks/executors. This should be non-zero if a framework expects to reconnect after a failure and not lose 
+    its tasks/executors.
+    NOTE: To avoid accidental destruction of tasks, productionframeworks typically set this to a large value (e.g., 1 week).
+  </td>
+</tr>
 </table>
 
 # Troubleshooting and Debugging
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..89b0905300a42 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
@@ -158,8 +158,8 @@ private[spark] class MesosCoarseGrainedSchedulerBackend(
       sc.appName,
       sc.conf,
       sc.conf.getOption("spark.mesos.driver.webui.url").orElse(sc.ui.map(_.webUrl)),
-      None,
-      None,
+      sc.conf.getOption("spark.mesos.checkpoint").map(_.toBoolean),
+      sc.conf.getOption("spark.mesos.failoverTimeout").map(_.toDouble),
       sc.conf.getOption("spark.mesos.driver.frameworkId")
     )
 
diff --git a/resource-managers/mesos/src/main/scala/org/apache/spark/scheduler/cluster/mesos/MesosFineGrainedSchedulerBackend.scala b/resource-managers/mesos/src/main/scala/org/apache/spark/scheduler/cluster/mesos/MesosFineGrainedSchedulerBackend.scala
index 7e561916a71e2..71869664fe01e 100644
--- a/resource-managers/mesos/src/main/scala/org/apache/spark/scheduler/cluster/mesos/MesosFineGrainedSchedulerBackend.scala
+++ b/resource-managers/mesos/src/main/scala/org/apache/spark/scheduler/cluster/mesos/MesosFineGrainedSchedulerBackend.scala
@@ -78,8 +78,8 @@ private[spark] class MesosFineGrainedSchedulerBackend(
       sc.appName,
       sc.conf,
       sc.conf.getOption("spark.mesos.driver.webui.url").orElse(sc.ui.map(_.webUrl)),
-      Option.empty,
-      Option.empty,
+      sc.conf.getOption("spark.mesos.checkpoint").map(_.toBoolean),
+      sc.conf.getOption("spark.mesos.failoverTimeout").map(_.toDouble),
       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..308951769288a 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 +139,43 @@ class MesosCoarseGrainedSchedulerBackendSuite extends SparkFunSuite
     assert(cpus == offerCores)
   }
 
+  test("mesos supports checkpointing") {
+
+    val checkpoint = true
+    val failoverTimeout = 10
+    setBackend(Map("spark.mesos.checkpoint" -> checkpoint.toString,
+      "spark.mesos.failoverTimeout" -> failoverTimeout.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))
+        assert(failoverTimeout.contains(10.0))
+        driver
+      }
+    }
+
+    backend.start()
+
+  }
+
   test("mesos does not acquire more than spark.cores.max") {
     val maxCores = 10
     setBackend(Map("spark.cores.max" -> maxCores.toString))
diff --git a/resource-managers/mesos/src/test/scala/org/apache/spark/scheduler/cluster/mesos/MesosFineGrainedSchedulerBackendSuite.scala b/resource-managers/mesos/src/test/scala/org/apache/spark/scheduler/cluster/mesos/MesosFineGrainedSchedulerBackendSuite.scala
index 4ee85b91830a9..21343b063b00f 100644
--- a/resource-managers/mesos/src/test/scala/org/apache/spark/scheduler/cluster/mesos/MesosFineGrainedSchedulerBackendSuite.scala
+++ b/resource-managers/mesos/src/test/scala/org/apache/spark/scheduler/cluster/mesos/MesosFineGrainedSchedulerBackendSuite.scala
@@ -79,6 +79,43 @@ class MesosFineGrainedSchedulerBackendSuite
     backend.start()
   }
 
+  test("mesos supports checkpointing") {
+    val conf = new SparkConf
+    conf.set("spark.mesos.checkpoint", "true")
+    conf.set("spark.mesos.failoverTimeout", "10")
+    conf.set("spark.mesos.driver.webui.url", "http://webui")
+
+    val sc = mock[SparkContext]
+    when(sc.conf).thenReturn(conf)
+    when(sc.sparkUser).thenReturn("sparkUser1")
+    when(sc.appName).thenReturn("appName1")
+
+    val taskScheduler = mock[TaskSchedulerImpl]
+    val driver = mock[SchedulerDriver]
+    when(driver.start()).thenReturn(Protos.Status.DRIVER_RUNNING)
+
+    val backend = new MesosFineGrainedSchedulerBackend(taskScheduler, sc, "master") {
+      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))
+        assert(failoverTimeout.contains(10.0))
+        driver
+      }
+    }
+
+    backend.start()
+
+  }
+
   test("Use configured mesosExecutor.cores for ExecutorInfo") {
     val mesosExecutorCores = 3
     val conf = new SparkConf