Requirements traceability is an important mechanism for managing verification, validation and change impact analysis challenges in system engineering. Numerous model-based approaches have been proposed to support requirements traceability, but significant challenges remain, including finding the appropriate level of granularity for modelling traceability and coping with the lack of uniformity in requirements management tools. This paper argues for an agile modelling approach to managing requirements traceability and, in this context, proposes a domain/project-specific requirements traceability modelling approach. The preliminary approach is illustrated briefly in the context of the safety-critical systems engineering domain, where agile traceability from functional and safety requirements is necessary to underpin certification. © 2012 ACM.