diff --git a/controllers/azuremanagedcontrolplane_controller.go b/controllers/azuremanagedcontrolplane_controller.go
index 56984c7024b..0b982025229 100644
--- a/controllers/azuremanagedcontrolplane_controller.go
+++ b/controllers/azuremanagedcontrolplane_controller.go
@@ -98,7 +98,7 @@ func (amcpr *AzureManagedControlPlaneReconciler) SetupWithManager(ctx context.Co
 	// Add a watch on clusterv1.Cluster object for unpause & ready notifications.
 	if err = c.Watch(
 		&source.Kind{Type: &clusterv1.Cluster{}},
-		handler.EnqueueRequestsFromMapFunc(util.ClusterToInfrastructureMapFunc(ctx, infrav1.GroupVersion.WithKind("AzureManagedControlPlane"), mgr.GetClient(), &infrav1.AzureManagedControlPlane{})),
+		handler.EnqueueRequestsFromMapFunc(amcpr.ClusterToAzureManagedControlPlane),
 		predicates.ClusterUnpausedAndInfrastructureReady(log),
 		predicates.ResourceNotPausedAndHasFilterLabel(log, amcpr.WatchFilterValue),
 	); err != nil {
@@ -285,3 +285,19 @@ func (amcpr *AzureManagedControlPlaneReconciler) reconcileDelete(ctx context.Con
 
 	return reconcile.Result{}, nil
 }
+
+// ClusterToAzureManagedControlPlane is a handler.ToRequestsFunc to be used to enqueue requests for
+// reconciliation for AzureManagedControlPlane based on updates to a Cluster.
+func (amcpr *AzureManagedControlPlaneReconciler) ClusterToAzureManagedControlPlane(o client.Object) []ctrl.Request {
+	c, ok := o.(*clusterv1.Cluster)
+	if !ok {
+		panic(fmt.Sprintf("Expected a Cluster but got a %T", o))
+	}
+
+	controlPlaneRef := c.Spec.ControlPlaneRef
+	if controlPlaneRef != nil && controlPlaneRef.Kind == "AzureManagedControlPlane" {
+		return []ctrl.Request{{NamespacedName: client.ObjectKey{Namespace: controlPlaneRef.Namespace, Name: controlPlaneRef.Name}}}
+	}
+
+	return nil
+}
diff --git a/controllers/azuremanagedcontrolplane_controller_test.go b/controllers/azuremanagedcontrolplane_controller_test.go
new file mode 100644
index 00000000000..35b275d5b0a
--- /dev/null
+++ b/controllers/azuremanagedcontrolplane_controller_test.go
@@ -0,0 +1,79 @@
+/*
+Copyright 2023 The Kubernetes Authors.
+
+Licensed 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 controllers
+
+import (
+	"testing"
+
+	. "github.com/onsi/gomega"
+	corev1 "k8s.io/api/core/v1"
+	"k8s.io/apimachinery/pkg/types"
+	clusterv1 "sigs.k8s.io/cluster-api/api/v1beta1"
+	ctrl "sigs.k8s.io/controller-runtime"
+)
+
+func TestClusterToAzureManagedControlPlane(t *testing.T) {
+	tests := []struct {
+		name            string
+		controlPlaneRef *corev1.ObjectReference
+		expected        []ctrl.Request
+	}{
+		{
+			name:            "nil",
+			controlPlaneRef: nil,
+			expected:        nil,
+		},
+		{
+			name: "bad kind",
+			controlPlaneRef: &corev1.ObjectReference{
+				Kind: "NotAzureManagedControlPlane",
+			},
+			expected: nil,
+		},
+		{
+			name: "ok",
+			controlPlaneRef: &corev1.ObjectReference{
+				Kind:      "AzureManagedControlPlane",
+				Name:      "name",
+				Namespace: "namespace",
+			},
+			expected: []ctrl.Request{
+				{
+					NamespacedName: types.NamespacedName{
+						Name:      "name",
+						Namespace: "namespace",
+					},
+				},
+			},
+		},
+	}
+
+	for _, test := range tests {
+		t.Run(test.name, func(t *testing.T) {
+			g := NewWithT(t)
+			actual := (&AzureManagedControlPlaneReconciler{}).ClusterToAzureManagedControlPlane(&clusterv1.Cluster{
+				Spec: clusterv1.ClusterSpec{
+					ControlPlaneRef: test.controlPlaneRef,
+				},
+			})
+			if test.expected == nil {
+				g.Expect(actual).To(BeNil())
+			} else {
+				g.Expect(actual).To(Equal(test.expected))
+			}
+		})
+	}
+}