Asclepias incarnata is a herbaceous perennial plant species that belongs to the family Apocynaceae. It is commonly known as swamp milkweed or rose milkweed. The plant can grow up to 3-4 feet (90-120 cm) in height and 2-3 feet (60-90 cm) in width. The plant has a straight stem with opposite, lance-shaped leaves that are 3-6 inches (7.5-15 cm) long.