diff --git a/drake_ros_examples/examples/hydroelastic/hydroelastic.cc b/drake_ros_examples/examples/hydroelastic/hydroelastic.cc
index a6090c5f..144ccace 100644
--- a/drake_ros_examples/examples/hydroelastic/hydroelastic.cc
+++ b/drake_ros_examples/examples/hydroelastic/hydroelastic.cc
@@ -67,8 +67,7 @@ void AddScene(MultibodyPlantd* plant) {
 
   std::filesystem::path fs_path{
       parser.package_map().GetPath("drake_ros_examples")};
-  parser.AddAllModelsFromFile(
-      (fs_path / "hydroelastic/hydroelastic.sdf").string());
+  parser.AddModels((fs_path / "hydroelastic/hydroelastic.sdf").string());
 }
 
 int do_main() {
diff --git a/drake_ros_examples/examples/multirobot/multirobot.cc b/drake_ros_examples/examples/multirobot/multirobot.cc
index e95e9e90..e01529dd 100644
--- a/drake_ros_examples/examples/multirobot/multirobot.cc
+++ b/drake_ros_examples/examples/multirobot/multirobot.cc
@@ -84,8 +84,10 @@ int main(int argc, char** argv) {
       // coordinates in the array
       std::stringstream model_instance_name;
       model_instance_name << model_name << xx << '_' << yy;
-      auto model_instance =
-          parser.AddModelFromFile(model_file_path, model_instance_name.str());
+      parser.SetAutoRenaming(true);
+      auto model_instance = parser.AddModels(model_file_path)[0];
+
+      plant.RenameModelInstance(model_instance, model_instance_name.str());
 
       // Weld the robot to the world so it doesn't fall through the floor
       auto& base_frame = plant.GetFrameByName("base", model_instance);