diff --git a/clients/src/main/java/org/apache/kafka/clients/admin/internals/AlterConsumerGroupOffsetsHandler.java b/clients/src/main/java/org/apache/kafka/clients/admin/internals/AlterConsumerGroupOffsetsHandler.java
index eab2e2bb73a40..425ed66bd29a2 100644
--- a/clients/src/main/java/org/apache/kafka/clients/admin/internals/AlterConsumerGroupOffsetsHandler.java
+++ b/clients/src/main/java/org/apache/kafka/clients/admin/internals/AlterConsumerGroupOffsetsHandler.java
@@ -179,6 +179,8 @@ private void handleError(
             case INVALID_GROUP_ID:
             case INVALID_COMMIT_OFFSET_SIZE:
             case GROUP_AUTHORIZATION_FAILED:
+            // Member level errors.
+            case UNKNOWN_MEMBER_ID:
                 log.debug("OffsetCommit request for group id {} failed due to error {}.",
                     groupId.idValue, error);
                 partitionResults.put(topicPartition, error);
diff --git a/connect/mirror/src/main/java/org/apache/kafka/connect/mirror/MirrorCheckpointTask.java b/connect/mirror/src/main/java/org/apache/kafka/connect/mirror/MirrorCheckpointTask.java
index 959961812ea5a..3e6247334bb81 100644
--- a/connect/mirror/src/main/java/org/apache/kafka/connect/mirror/MirrorCheckpointTask.java
+++ b/connect/mirror/src/main/java/org/apache/kafka/connect/mirror/MirrorCheckpointTask.java
@@ -17,9 +17,11 @@
 package org.apache.kafka.connect.mirror;
 
 import org.apache.kafka.clients.admin.Admin;
+import org.apache.kafka.clients.admin.AlterConsumerGroupOffsetsResult;
 import org.apache.kafka.clients.admin.ConsumerGroupDescription;
 import org.apache.kafka.common.ConsumerGroupState;
 import org.apache.kafka.common.KafkaFuture;
+import org.apache.kafka.common.errors.UnknownMemberIdException;
 import org.apache.kafka.connect.source.SourceTask;
 import org.apache.kafka.connect.source.SourceRecord;
 import org.apache.kafka.connect.data.Schema;
@@ -306,9 +308,18 @@ Map<String, Map<TopicPartition, OffsetAndMetadata>> syncGroupOffset() {
 
     void syncGroupOffset(String consumerGroupId, Map<TopicPartition, OffsetAndMetadata> offsetToSync) {
         if (targetAdminClient != null) {
-            targetAdminClient.alterConsumerGroupOffsets(consumerGroupId, offsetToSync);
-            log.trace("sync-ed the offset for consumer group: {} with {} number of offset entries",
-                      consumerGroupId, offsetToSync.size());
+            AlterConsumerGroupOffsetsResult result = targetAdminClient.alterConsumerGroupOffsets(consumerGroupId, offsetToSync);
+            result.all().whenComplete((v, throwable) -> {
+                if (throwable != null) {
+                    if (throwable.getCause() instanceof UnknownMemberIdException) {
+                        log.warn("Unable to sync offsets for consumer group {}. This is likely caused by consumers currently using this group in the target cluster.", consumerGroupId);
+                    } else {
+                        log.error("Unable to sync offsets for consumer group {}.", consumerGroupId, throwable);
+                    }
+                } else {
+                    log.trace("Sync-ed {} offsets for consumer group {}.", offsetToSync.size(), consumerGroupId);
+                }
+            });
         }
     }