diff --git a/docs/docs/api/gestures/gesture.md b/docs/docs/api/gestures/gesture.md
index a84a48003a..b8131ffc58 100644
--- a/docs/docs/api/gestures/gesture.md
+++ b/docs/docs/api/gestures/gesture.md
@@ -6,6 +6,20 @@ sidebar_label: Gesture
 
 `Gesture` is the object that allows you to create and compose gestures.
 
+:::tip
+Consider wrapping your gesture configurations with `useMemo`, as it will reduce the amount of work Gesture Handler has to do under the hood when updating gestures. For example:
+```jsx
+const gesture = useMemo(
+  () =>
+    Gesture.Tap().onStart(() => {
+      console.log('Number of taps:', tapNumber + 1);
+      setTapNumber((value) => value + 1);
+    }),
+  [tapNumber, setTapNumber]
+);
+```
+:::
+
 ### Gesture.Tap()
 
 Creates a new instance of [`TapGesture`](./tap-gesture.md) with its default config and no callbacks.
diff --git a/src/handlers/gestures/GestureDetector.tsx b/src/handlers/gestures/GestureDetector.tsx
index 8676173bdd..aaee89c389 100644
--- a/src/handlers/gestures/GestureDetector.tsx
+++ b/src/handlers/gestures/GestureDetector.tsx
@@ -268,11 +268,34 @@ function updateHandlers(
     }
 
     if (preparedGesture.animatedHandlers) {
-      preparedGesture.animatedHandlers.value = (preparedGesture.config
+      const previousHandlersValue =
+        preparedGesture.animatedHandlers.value ?? [];
+      const newHandlersValue = (preparedGesture.config
         .filter((g) => g.shouldUseReanimated) // ignore gestures that shouldn't run on UI
         .map((g) => g.handlers) as unknown) as HandlerCallbacks<
         Record<string, unknown>
       >[];
+
+      // if amount of gesture configs changes, we need to update the callbacks in shared value
+      let shouldUpdateSharedValue =
+        previousHandlersValue.length !== newHandlersValue.length;
+
+      if (!shouldUpdateSharedValue) {
+        // if the amount is the same, we need to check if any of the configs inside has changed
+        for (let i = 0; i < newHandlersValue.length; i++) {
+          if (
+            // we can use the `gestureId` prop as it's unique for every config instance
+            newHandlersValue[i].gestureId !== previousHandlersValue[i].gestureId
+          ) {
+            shouldUpdateSharedValue = true;
+            break;
+          }
+        }
+      }
+
+      if (shouldUpdateSharedValue) {
+        preparedGesture.animatedHandlers.value = newHandlersValue;
+      }
     }
 
     scheduleFlushOperations();
diff --git a/src/handlers/gestures/gesture.ts b/src/handlers/gestures/gesture.ts
index 6f06c833cd..fcfcddc6ce 100644
--- a/src/handlers/gestures/gesture.ts
+++ b/src/handlers/gestures/gesture.ts
@@ -53,6 +53,7 @@ type TouchEventHandlerType = (
 ) => void;
 
 export type HandlerCallbacks<EventPayloadT extends Record<string, unknown>> = {
+  gestureId: number;
   handlerTag: number;
   onBegin?: (event: GestureStateChangeEvent<EventPayloadT>) => void;
   onStart?: (event: GestureStateChangeEvent<EventPayloadT>) => void;
@@ -115,17 +116,32 @@ export abstract class Gesture {
   abstract prepare(): void;
 }
 
+let nextGestureId = 0;
 export abstract class BaseGesture<
   EventPayloadT extends Record<string, unknown>
 > extends Gesture {
+  private gestureId = -1;
   public handlerTag = -1;
   public handlerName = '';
   public config: BaseGestureConfig = {};
   public handlers: HandlerCallbacks<EventPayloadT> = {
+    gestureId: -1,
     handlerTag: -1,
     isWorklet: [],
   };
 
+  constructor() {
+    super();
+
+    // Used to check whether the gesture config has been updated when wrapping it
+    // with `useMemo`. Since every config will have a unique id, when the dependencies
+    // don't change, the config won't be recreated and the id will stay the same.
+    // If the id is different, it means that the config has changed and the gesture
+    // needs to be updated.
+    this.gestureId = nextGestureId++;
+    this.handlers.gestureId = this.gestureId;
+  }
+
   private addDependency(
     key: 'simultaneousWith' | 'requireToFail',
     gesture: Exclude<GestureRef, number>