diff --git a/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/dependencies.d/go2rtc b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/dependencies.d/go2rtc
new file mode 100644
index 000000000..e69de29bb
diff --git a/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/finish b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/finish
new file mode 100755
index 000000000..46c27b22d
--- /dev/null
+++ b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/finish
@@ -0,0 +1,10 @@
+#!/command/with-contenv bash
+# shellcheck shell=bash
+
+set -o errexit -o nounset -o pipefail
+
+readonly exit_code_service="${1}"
+readonly exit_code_signal="${2}"
+readonly service="go2rtc-healthcheck"
+
+echo "[INFO] The ${service} service exited with code ${exit_code_service} (by signal ${exit_code_signal})" >&2
diff --git a/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/run b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/run
new file mode 100755
index 000000000..5e266fe65
--- /dev/null
+++ b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/run
@@ -0,0 +1,16 @@
+#!/command/with-contenv bash
+# shellcheck shell=bash
+# Start the go2rtc healthcheck service
+
+set -o errexit -o nounset -o pipefail
+
+echo "[INFO] Starting go2rtc healthcheck service..." >&2
+
+while sleep 1m; do
+    # Check if the service is running
+    if ! curl -fsSL http://127.0.0.1:1984/api/streams >/dev/null; then
+        echo "[ERROR] The go2rtc is apparently not working, restarting it..." >&2
+        # We can also use -r instead of -t to send kill signal rather than term
+        s6-svc -t /var/run/service/go2rtc
+    fi
+done
diff --git a/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/type b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/type
new file mode 100644
index 000000000..5883cff0c
--- /dev/null
+++ b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc-healthcheck/type
@@ -0,0 +1 @@
+longrun
diff --git a/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc/finish b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc/finish
index 26b34294a..7d32038e6 100755
--- a/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc/finish
+++ b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc/finish
@@ -1,32 +1,10 @@
 #!/command/with-contenv bash
 # shellcheck shell=bash
-# Take down the S6 supervision tree when the service exits
 
 set -o errexit -o nounset -o pipefail
 
-declare exit_code_container
-exit_code_container=$(cat /run/s6-linux-init-container-results/exitcode)
-readonly exit_code_container
 readonly exit_code_service="${1}"
 readonly exit_code_signal="${2}"
 readonly service="go2rtc"
 
-echo "Service ${service} exited with code ${exit_code_service} (by signal ${exit_code_signal})" >&2
-
-if [[ "${exit_code_service}" -eq 256 ]]; then
-  if [[ "${exit_code_container}" -eq 0 ]]; then
-    echo $((128 + exit_code_signal)) > /run/s6-linux-init-container-results/exitcode
-  fi
-elif [[ "${exit_code_service}" -ne 0 ]]; then
-  if [[ "${exit_code_container}" -eq 0 ]]; then
-    echo "${exit_code_service}" > /run/s6-linux-init-container-results/exitcode
-  fi
-else
-  # go2rtc is not supposed to exit, so even when it exits with 0 we make the
-  # container with 1. We only tolerate it when Frigate is restarting.
-  if [[ "${exit_code_container}" -eq 0 && ! -f /dev/shm/restarting-frigate ]]; then
-    echo "1" > /run/s6-linux-init-container-results/exitcode
-  fi
-fi
-
-exec /run/s6/basedir/bin/halt
+echo "[INFO] The ${service} service exited with code ${exit_code_service} (by signal ${exit_code_signal})" >&2
diff --git a/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc/run b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc/run
index e84e645f2..9a0b616c0 100755
--- a/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc/run
+++ b/docker/rootfs/etc/s6-overlay/s6-rc.d/go2rtc/run
@@ -4,9 +4,6 @@
 
 set -o errexit -o nounset -o pipefail
 
-# Tell S6-Overlay not to restart this service
-s6-svc -O .
-
 function get_ip_and_port_from_supervisor() {
     local ip_address
     # Example: 192.168.1.10/24