diff --git a/internal/querycoordv2/meta/resource_group.go b/internal/querycoordv2/meta/resource_group.go
index 69780f9b93..f2e86f0f91 100644
--- a/internal/querycoordv2/meta/resource_group.go
+++ b/internal/querycoordv2/meta/resource_group.go
@@ -13,7 +13,6 @@ import (
 var (
 	DefaultResourceGroupName           = "__default_resource_group"
 	defaultResourceGroupCapacity int32 = 1000000
-	resourceGroupTransferBoost         = 10000
 )
 
 func NewResourceGroupConfig(request int32, limit int32) *rgpb.ResourceGroupConfig {
@@ -197,15 +196,19 @@ func (rg *ResourceGroup) SelectNodeForRG(targetRG *ResourceGroup) int64 {
 
 // return node and priority.
 func (rg *ResourceGroup) AcceptNode(nodeID int64) bool {
-	if rg.GetName() == DefaultResourceGroupName {
-		return true
-	}
-
 	nodeInfo := rg.nodeMgr.Get(nodeID)
 	if nodeInfo == nil {
 		return false
 	}
 
+	if nodeInfo.ResourceGroupName() != "" && nodeInfo.ResourceGroupName() != rg.GetName() {
+		return false
+	}
+
+	if rg.GetName() == DefaultResourceGroupName {
+		return true
+	}
+
 	requiredNodeLabels := rg.GetConfig().GetNodeFilter().GetNodeLabels()
 	if len(requiredNodeLabels) == 0 {
 		return true
diff --git a/internal/querycoordv2/meta/resource_group_test.go b/internal/querycoordv2/meta/resource_group_test.go
index 1e7da01b57..5441f92aec 100644
--- a/internal/querycoordv2/meta/resource_group_test.go
+++ b/internal/querycoordv2/meta/resource_group_test.go
@@ -8,6 +8,7 @@ import (
 	"github.com/milvus-io/milvus-proto/go-api/v2/commonpb"
 	"github.com/milvus-io/milvus-proto/go-api/v2/rgpb"
 	"github.com/milvus-io/milvus/internal/querycoordv2/session"
+	"github.com/milvus-io/milvus/internal/util/sessionutil"
 	"github.com/milvus-io/milvus/pkg/v2/proto/querypb"
 	"github.com/milvus-io/milvus/pkg/v2/util/typeutil"
 )
@@ -451,3 +452,33 @@ func TestRGNodeFilter(t *testing.T) {
 	}, nodeMgr)
 	assert.Equal(t, rg.SelectNodeForRG(rg3), int64(-1))
 }
+
+func TestRGAcceptNode(t *testing.T) {
+	nodeMgr := session.NewNodeManager()
+
+	nodeMgr.Add(session.NewNodeInfo(session.ImmutableNodeInfo{
+		NodeID: 1,
+		Labels: map[string]string{
+			sessionutil.LabelResourceGroup: "rg1",
+		},
+	}))
+
+	nodeMgr.Add(session.NewNodeInfo(session.ImmutableNodeInfo{
+		NodeID: 2,
+		Labels: map[string]string{
+			sessionutil.LabelResourceGroup: "rg2",
+		},
+	}))
+
+	rg := NewResourceGroup("rg1", &rgpb.ResourceGroupConfig{
+		Requests: &rgpb.ResourceGroupLimit{
+			NodeNum: 1,
+		},
+		Limits: &rgpb.ResourceGroupLimit{
+			NodeNum: 1,
+		},
+	}, nodeMgr)
+
+	assert.True(t, rg.AcceptNode(1))
+	assert.False(t, rg.AcceptNode(2))
+}
diff --git a/internal/querycoordv2/meta/resource_manager.go b/internal/querycoordv2/meta/resource_manager.go
index d5abfd6534..d9322c3a50 100644
--- a/internal/querycoordv2/meta/resource_manager.go
+++ b/internal/querycoordv2/meta/resource_manager.go
@@ -797,16 +797,18 @@ func (rm *ResourceManager) selectNodeForRedundantRecover(sourceRG *ResourceGroup
 // assignIncomingNodeWithNodeCheck assign node to resource group with node status check.
 func (rm *ResourceManager) assignIncomingNodeWithNodeCheck(ctx context.Context, node int64) (string, error) {
 	// node is on stopping or stopped, remove it from incoming node set.
-	if rm.nodeMgr.Get(node) == nil {
+	nodeInfo := rm.nodeMgr.Get(node)
+	if nodeInfo == nil {
 		rm.incomingNode.Remove(node)
 		return "", errors.New("node is not online")
 	}
-	if ok, _ := rm.nodeMgr.IsStoppingNode(node); ok {
+
+	if nodeInfo.IsStoppingState() {
 		rm.incomingNode.Remove(node)
 		return "", errors.New("node has been stopped")
 	}
 
-	rgName, err := rm.assignIncomingNode(ctx, node)
+	rgName, err := rm.assignIncomingNode(ctx, nodeInfo)
 	if err != nil {
 		return "", err
 	}
@@ -816,7 +818,9 @@ func (rm *ResourceManager) assignIncomingNodeWithNodeCheck(ctx context.Context,
 }
 
 // assignIncomingNode assign node to resource group.
-func (rm *ResourceManager) assignIncomingNode(ctx context.Context, node int64) (string, error) {
+func (rm *ResourceManager) assignIncomingNode(ctx context.Context, nodeInfo *session.NodeInfo) (string, error) {
+	node := nodeInfo.ID()
+
 	// If node already assign to rg.
 	rg := rm.getResourceGroupByNodeID(node)
 	if rg != nil {
@@ -827,16 +831,53 @@ func (rm *ResourceManager) assignIncomingNode(ctx context.Context, node int64) (
 		return rg.GetName(), nil
 	}
 
+	if err := rm.createResourceGroupIfNotExists(ctx, nodeInfo); err != nil {
+		return "", err
+	}
+
 	// select a resource group to assign incoming node.
-	rg = rm.mustSelectAssignIncomingNodeTargetRG(node)
+	rg = rm.mustSelectAssignIncomingNodeTargetRG(nodeInfo)
 	if err := rm.transferNode(ctx, rg.GetName(), node); err != nil {
 		return "", errors.Wrap(err, "at finally assign to default resource group")
 	}
 	return rg.GetName(), nil
 }
 
+// createResourceGroupIfNotExists create resource group if not exists.
+func (rm *ResourceManager) createResourceGroupIfNotExists(ctx context.Context, nodeInfo *session.NodeInfo) error {
+	rgName := nodeInfo.ResourceGroupName()
+	nodeID := nodeInfo.ID()
+	if rgName == "" {
+		return nil
+	}
+	if _, ok := rm.groups[rgName]; ok {
+		return nil
+	}
+	if err := rm.updateResourceGroups(ctx, map[string]*rgpb.ResourceGroupConfig{
+		rgName: {
+			Requests: &rgpb.ResourceGroupLimit{
+				NodeNum: 0,
+			},
+			Limits: &rgpb.ResourceGroupLimit{
+				NodeNum: defaultResourceGroupCapacity,
+			},
+		},
+	}); err != nil {
+		log.Warn("failed to create resource group from session of new incoming node", zap.String("rgName", rgName), zap.Int64("nodeID", nodeID), zap.Error(err))
+		return err
+	}
+	log.Info("create resource group from session of new incoming node", zap.String("rgName", rgName), zap.Int64("nodeID", nodeID))
+	return nil
+}
+
 // mustSelectAssignIncomingNodeTargetRG select resource group for assign incoming node.
-func (rm *ResourceManager) mustSelectAssignIncomingNodeTargetRG(nodeID int64) *ResourceGroup {
+func (rm *ResourceManager) mustSelectAssignIncomingNodeTargetRG(nodeInfo *session.NodeInfo) *ResourceGroup {
+	if nodeInfo.ResourceGroupName() != "" {
+		// rg will be created if not exists by createResourceGroupIfNotExists
+		return rm.groups[nodeInfo.ResourceGroupName()]
+	}
+
+	nodeID := nodeInfo.ID()
 	// First, Assign it to rg with the most missing nodes at high priority.
 	if rg := rm.findMaxRGWithGivenFilter(
 		func(rg *ResourceGroup) bool {
@@ -1020,6 +1061,12 @@ func (rm *ResourceManager) validateResourceGroupIsDeletable(rgName string) error
 		return merr.WrapErrParameterInvalid("not empty resource group", rgName, "resource group's limits node num is not 0")
 	}
 
+	for _, nodeInfo := range rm.nodeMgr.GetAll() {
+		if nodeInfo.ResourceGroupName() == rgName {
+			return merr.WrapErrParameterInvalid("not empty resource group", fmt.Sprintf("node %d is still in the resource group", nodeInfo.ID()))
+		}
+	}
+
 	// If rg is used by other rg, it's not deletable.
 	for _, rg := range rm.groups {
 		for _, transferCfg := range rg.GetConfig().GetTransferFrom() {
diff --git a/internal/querycoordv2/meta/resource_manager_test.go b/internal/querycoordv2/meta/resource_manager_test.go
index 3646f09f3b..7ed0c7105b 100644
--- a/internal/querycoordv2/meta/resource_manager_test.go
+++ b/internal/querycoordv2/meta/resource_manager_test.go
@@ -232,6 +232,17 @@ func (suite *ResourceManagerSuite) TestManipulateResourceGroup() {
 		},
 	}))
 	suite.manager.HandleNodeUp(ctx, 10)
+
+	suite.manager.nodeMgr.Add(session.NewNodeInfo(session.ImmutableNodeInfo{
+		NodeID:   11,
+		Address:  "localhost",
+		Hostname: "localhost",
+		Labels: map[string]string{
+			sessionutil.LabelResourceGroup: "rg11",
+		},
+	}))
+	suite.manager.HandleNodeUp(ctx, 11)
+	suite.Equal(1, suite.manager.GetResourceGroup(ctx, "rg11").NodeNum())
 }
 
 func (suite *ResourceManagerSuite) TestNodeUpAndDown() {
diff --git a/internal/querycoordv2/session/node_manager.go b/internal/querycoordv2/session/node_manager.go
index 07e6b45725..9c465da80a 100644
--- a/internal/querycoordv2/session/node_manager.go
+++ b/internal/querycoordv2/session/node_manager.go
@@ -171,7 +171,15 @@ func (n *NodeInfo) IsInStandalone() bool {
 }
 
 func (n *NodeInfo) IsEmbeddedQueryNodeInStreamingNode() bool {
-	return n.immutableInfo.Labels[sessionutil.LabelStreamingNodeEmbeddedQueryNode] == "1"
+	// Since 2.6.8, we introduce a new label rule for session,
+	// the LegacyLabelStreamingNodeEmbeddedQueryNode is used before 2.6.8, so we need to check both key to keep compatibility.
+	return n.immutableInfo.Labels[sessionutil.LabelStreamingNodeEmbeddedQueryNode] == "1" ||
+		n.immutableInfo.Labels[sessionutil.LegacyLabelStreamingNodeEmbeddedQueryNode] == "1"
+}
+
+// ResourceGroupName returns the resource group name of the current node.
+func (n *NodeInfo) ResourceGroupName() string {
+	return n.immutableInfo.Labels[sessionutil.LabelResourceGroup]
 }
 
 func (n *NodeInfo) SegmentCnt() int {
diff --git a/internal/querycoordv2/session/node_manager_test.go b/internal/querycoordv2/session/node_manager_test.go
index 29b83ce212..6f225da719 100644
--- a/internal/querycoordv2/session/node_manager_test.go
+++ b/internal/querycoordv2/session/node_manager_test.go
@@ -21,6 +21,8 @@ import (
 	"time"
 
 	"github.com/stretchr/testify/suite"
+
+	"github.com/milvus-io/milvus/internal/util/sessionutil"
 )
 
 type NodeManagerSuite struct {
@@ -230,6 +232,29 @@ func (s *NodeManagerSuite) TestMemCapacityFunctionality() {
 	s.Equal(2048.75, node.MemCapacity())
 }
 
+func (s *NodeManagerSuite) TestNodeInfoLabels() {
+	info := ImmutableNodeInfo{
+		NodeID:   1,
+		Address:  "localhost",
+		Hostname: "localhost",
+		Labels: map[string]string{
+			sessionutil.LegacyLabelStreamingNodeEmbeddedQueryNode: "1",
+		},
+	}
+
+	info2 := NodeInfo{
+		immutableInfo: info,
+	}
+	s.True(info2.IsEmbeddedQueryNodeInStreamingNode())
+
+	info2.immutableInfo.Labels[sessionutil.LabelStreamingNodeEmbeddedQueryNode] = "1"
+	delete(info2.immutableInfo.Labels, sessionutil.LegacyLabelStreamingNodeEmbeddedQueryNode)
+	s.True(info2.IsEmbeddedQueryNodeInStreamingNode())
+
+	info.Labels[sessionutil.LabelResourceGroup] = "rg1"
+	s.Equal("rg1", info2.ResourceGroupName())
+}
+
 func TestNodeManagerSuite(t *testing.T) {
 	suite.Run(t, new(NodeManagerSuite))
 }
diff --git a/internal/util/sessionutil/labels.go b/internal/util/sessionutil/labels.go
new file mode 100644
index 0000000000..062a5af472
--- /dev/null
+++ b/internal/util/sessionutil/labels.go
@@ -0,0 +1,125 @@
+// Licensed to the LF AI & Data foundation under one
+// or more contributor license agreements. See the NOTICE file
+// distributed with this work for additional information
+// regarding copyright ownership. The ASF licenses this file
+// to you under the Apache License, Version 2.0 (the
+// "License"); you may not use this file except in compliance
+// with the License. You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+package sessionutil
+
+import (
+	"os"
+	"strings"
+
+	"github.com/milvus-io/milvus/pkg/v2/util/typeutil"
+)
+
+// milvus server label rules:
+// The server label of milvus will be injected into the session of milvus server,
+// which can be found at SessionRaw.ServerLabels.
+// The label is a envionment variable, the key must be prefixed with "MILVUS_SERVER_LABEL_".
+// There are two types of labels:
+//
+// role-specific labels and non-role-specific labels.
+// The key of role-specific labels have the format of "MILVUS_SERVER_LABEL_<ROLE>_<LABEL>",
+// only the session of the role can see the label.
+// The key of non-role-specific labels have the format of "MILVUS_SERVER_LABEL_<LABEL>",
+// all sessions can see the label.
+// e.g.
+// export MILVUS_SERVER_LABEL_label1=value1, all roles can see the `label1:value1` in the server label of session.
+// export MILVUS_SERVER_LABEL_querynode_label2=value2, only the session of querynode can see the `label2:value2` in the server label of session.
+//
+// the key of non-role-specific labels will be overwritten by the key of role-specific labels.
+// e.g.
+// export MILVUS_SERVER_LABEL_label1=value1, export MILVUS_SERVER_LABEL_querynode_label1=value2,
+// the session of querynode will see the `label1:value2` in the server label of session because of the overwrite.
+// the session of other roles will see the `label1:value1` in the server label of session.
+const (
+	SupportedLabelPrefix = "MILVUS_SERVER_LABEL_"
+
+	// QueryNode
+	LabelStreamingNodeEmbeddedQueryNode       = "STREAMING-EMBEDDED"
+	LegacyLabelStreamingNodeEmbeddedQueryNode = "QUERYNODE_" + LabelStreamingNodeEmbeddedQueryNode
+
+	// All Roles
+	LabelStandalone    = "STANDALONE"
+	LabelResourceGroup = "RESOURCE_GROUP"
+)
+
+// NewServerLabel creates a new server label with the given role and label.
+func NewServerLabel(role string, label string) string {
+	if role == "" {
+		return SupportedLabelPrefix + strings.ToUpper(label)
+	}
+	return SupportedLabelPrefix + strings.ToUpper(role) + "_" + strings.ToUpper(label)
+}
+
+func getServerLabelsFromEnv(role string) map[string]string {
+	labelsSpecifiedByRole := make(map[string]string)
+	labels := make(map[string]string)
+	for _, value := range os.Environ() {
+		rs := []rune(value)
+		in := strings.Index(value, "=")
+		key := string(rs[0:in])
+		value := string(rs[in+1:])
+
+		roleFromEnv, label, ok := getRoleFromEnvKey(key)
+		if !ok || (roleFromEnv != "" && roleFromEnv != role) {
+			continue
+		}
+		if roleFromEnv == "" {
+			labels[label] = value
+		} else {
+			labelsSpecifiedByRole[label] = value
+		}
+	}
+	// use role specified labels to overwrite labels not specified by role.
+	for label, value := range labelsSpecifiedByRole {
+		labels[label] = value
+	}
+	return labels
+}
+
+func getRoleFromEnvKey(key string) (string, string, bool) {
+	if !strings.HasPrefix(key, SupportedLabelPrefix) {
+		return "", "", false
+	}
+	labelWithRole := strings.TrimPrefix(key, SupportedLabelPrefix)
+	if len(labelWithRole) == 0 {
+		return "", "", false
+	}
+	splits := strings.Split(labelWithRole, "_")
+	var role string
+	switch strings.ToLower(splits[0]) {
+	case typeutil.MixCoordRole, "coord":
+		role = typeutil.MixCoordRole
+	case typeutil.QueryNodeRole, "qn":
+		role = typeutil.QueryNodeRole
+	case typeutil.DataNodeRole, "dn":
+		role = typeutil.DataNodeRole
+	case typeutil.StreamingNodeRole, "sn":
+		role = typeutil.StreamingNodeRole
+	case typeutil.ProxyRole:
+		role = typeutil.ProxyRole
+	default:
+	}
+
+	// if role is not found, the label can be seen session in all roles.
+	if role == "" {
+		return "", labelWithRole, true
+	}
+	if len(splits) <= 1 {
+		return "", "", false
+	}
+	// else, it's a selected role label, only can be seen in the selected role.
+	return role, strings.Join(splits[1:], "_"), true
+}
diff --git a/internal/util/sessionutil/session_util.go b/internal/util/sessionutil/session_util.go
index f1f18486ab..9cf7ea5d96 100644
--- a/internal/util/sessionutil/session_util.go
+++ b/internal/util/sessionutil/session_util.go
@@ -51,12 +51,9 @@ const (
 	// DefaultServiceRoot default root path used in kv by Session
 	DefaultServiceRoot = "session/"
 	// DefaultIDKey default id key for Session
-	DefaultIDKey                        = "id"
-	SupportedLabelPrefix                = "MILVUS_SERVER_LABEL_"
-	LabelStreamingNodeEmbeddedQueryNode = "QUERYNODE_STREAMING-EMBEDDED"
-	LabelStandalone                     = "STANDALONE"
-	MilvusNodeIDForTesting              = "MILVUS_NODE_ID_FOR_TESTING"
-	exitCodeSessionLeaseExpired         = 1
+	DefaultIDKey                = "id"
+	MilvusNodeIDForTesting      = "MILVUS_NODE_ID_FOR_TESTING"
+	exitCodeSessionLeaseExpired = 1
 
 	serverVersionKey = "version"
 )
@@ -70,12 +67,12 @@ func isNotSessionVersionCheckFailure(err error) bool {
 
 // EnableEmbededQueryNodeLabel set server labels for embedded query node.
 func EnableEmbededQueryNodeLabel() {
-	os.Setenv(SupportedLabelPrefix+LabelStreamingNodeEmbeddedQueryNode, "1")
+	os.Setenv(NewServerLabel(typeutil.QueryNodeRole, LabelStreamingNodeEmbeddedQueryNode), "1")
 }
 
 // EnableStandaloneLabel set server labels for standalone.
 func EnableStandaloneLabel() {
-	os.Setenv(SupportedLabelPrefix+LabelStandalone, "1")
+	os.Setenv(NewServerLabel("", LabelStandalone), "1")
 }
 
 // SessionEventType session event type
@@ -309,7 +306,7 @@ func (s *Session) Init(serverName, address string, exclusive bool, triggerKill b
 		panic(err)
 	}
 	s.ServerID = serverID
-	s.ServerLabels = GetServerLabelsFromEnv(serverName)
+	s.ServerLabels = getServerLabelsFromEnv(serverName)
 	s.versionKey = path.Join(s.metaRoot, DefaultServiceRoot, serverVersionKey)
 
 	s.SetLogger(log.With(
@@ -388,25 +385,6 @@ func (s *Session) getServerID() (int64, error) {
 	return nodeID, nil
 }
 
-func GetServerLabelsFromEnv(role string) map[string]string {
-	ret := make(map[string]string)
-	switch role {
-	case "querynode":
-		for _, value := range os.Environ() {
-			rs := []rune(value)
-			in := strings.Index(value, "=")
-			key := string(rs[0:in])
-			value := string(rs[in+1:])
-
-			if strings.HasPrefix(key, SupportedLabelPrefix) {
-				label := strings.TrimPrefix(key, SupportedLabelPrefix)
-				ret[label] = value
-			}
-		}
-	}
-	return ret
-}
-
 func (s *Session) checkIDExist() {
 	s.etcdCli.Txn(s.ctx).If(
 		clientv3.Compare(
diff --git a/internal/util/sessionutil/session_util_test.go b/internal/util/sessionutil/session_util_test.go
index 1965559f74..0f8c0eb1af 100644
--- a/internal/util/sessionutil/session_util_test.go
+++ b/internal/util/sessionutil/session_util_test.go
@@ -759,16 +759,36 @@ func (s *SessionSuite) TestKeepAliveRetryChannelClose() {
 func (s *SessionSuite) TestGetSessions() {
 	os.Setenv("MILVUS_SERVER_LABEL_key1", "value1")
 	os.Setenv("MILVUS_SERVER_LABEL_key2", "value2")
-	os.Setenv("key3", "value3")
+	os.Setenv("MILVUS_SERVER_LABEL_key3", "value3")
+	os.Setenv("MILVUS_SERVER_LABEL_qn_key3", "value33")
+	os.Setenv("MILVUS_SERVER_LABEL_sn_key3", "value33")
+	os.Setenv("key4", "value4")
+	os.Setenv("MILVUS_SERVER_LABEL_", "value5")
+	os.Setenv("MILVUS_SERVER_LABEL_qn", "value6")
 
 	defer os.Unsetenv("MILVUS_SERVER_LABEL_key1")
 	defer os.Unsetenv("MILVUS_SERVER_LABEL_key2")
-	defer os.Unsetenv("key3")
+	defer os.Unsetenv("MILVUS_SERVER_LABEL_qn_key3")
+	defer os.Unsetenv("MILVUS_SERVER_LABEL_sn_key3")
+	defer os.Unsetenv("key4")
 
-	ret := GetServerLabelsFromEnv("querynode")
-	assert.Equal(s.T(), 2, len(ret))
-	assert.Equal(s.T(), "value1", ret["key1"])
-	assert.Equal(s.T(), "value2", ret["key2"])
+	roles := []string{typeutil.QueryNodeRole, typeutil.MixCoordRole, typeutil.StreamingNodeRole, typeutil.ProxyRole}
+
+	for _, role := range roles {
+		ret := getServerLabelsFromEnv(role)
+		switch role {
+		case typeutil.QueryNodeRole, typeutil.StreamingNodeRole:
+			assert.Equal(s.T(), 3, len(ret))
+			assert.Equal(s.T(), "value1", ret["key1"])
+			assert.Equal(s.T(), "value2", ret["key2"])
+			assert.Equal(s.T(), "value33", ret["key3"], "role: %s", role)
+		default:
+			assert.Equal(s.T(), 3, len(ret))
+			assert.Equal(s.T(), "value1", ret["key1"])
+			assert.Equal(s.T(), "value2", ret["key2"])
+			assert.Equal(s.T(), "value3", ret["key3"])
+		}
+	}
 }
 
 func (s *SessionSuite) TestVersionKey() {