A leadless pacemaker and retrieval system, comprising: a leadless cardiac pacemaker having a retrieval feature coupled to the pacemaker with at least one flexible stem; and a delivery catheter comprising: a handle; a catheter shaft coupled to the handle; a snare disposed within the catheter shaft and extendable distally beyond the catheter shaft; a docking cap disposed on a distal portion of the catheter shaft, the docking cap being rotatable independent of the catheter shaft and being sized and configured to receive the retrieval feature of the leadless cardiac pacemaker; and a torque shaft disposed within the catheter shaft and selectively connectable to the docking cap, the torque shaft configured to rotate within the catheter shaft to apply rotational torque to the docking cap when connected to the docking cap, and to apply rotational torque to the leadless cardiac pacemaker when the pacemaker is disposed in the docking cap.