diff --git a/sql/core/src/main/scala/org/apache/spark/sql/execution/SparkPlan.scala b/sql/core/src/main/scala/org/apache/spark/sql/execution/SparkPlan.scala
index 40bf094856bca..b46ddc2eaf121 100644
--- a/sql/core/src/main/scala/org/apache/spark/sql/execution/SparkPlan.scala
+++ b/sql/core/src/main/scala/org/apache/spark/sql/execution/SparkPlan.scala
@@ -21,6 +21,7 @@ import java.io.{ByteArrayInputStream, ByteArrayOutputStream, DataInputStream, Da
 import java.util.concurrent.atomic.AtomicInteger
 
 import scala.collection.mutable.{ArrayBuffer, ListBuffer}
+import scala.concurrent.{ExecutionContext, Future}
 
 import org.apache.spark.{broadcast, SparkEnv}
 import org.apache.spark.internal.Logging
@@ -392,11 +393,18 @@ abstract class SparkPlan extends QueryPlan[SparkPlan] with Logging with Serializ
     results.toArray
   }
 
-  private[spark] def executeCollectIterator(): (Long, Iterator[InternalRow]) = {
-    val countsAndBytes = getByteArrayRdd().collect()
-    val total = countsAndBytes.map(_._1).sum
-    val rows = countsAndBytes.iterator.flatMap(countAndBytes => decodeUnsafeRows(countAndBytes._2))
-    (total, rows)
+  /**
+   * Runs this query in async way and return the future of collect result.
+   */
+  private[spark] def executeCollectIteratorFuture()(
+    implicit executor: ExecutionContext): Future[(Long, Iterator[InternalRow])] = {
+    val future = getByteArrayRdd().collectAsync()
+    future.map(countsAndBytes => {
+      val total = countsAndBytes.map(_._1).sum
+      val rows = countsAndBytes.iterator
+        .flatMap(countAndBytes => decodeUnsafeRows(countAndBytes._2))
+      (total, rows)
+    })
   }
 
   /**
diff --git a/sql/core/src/main/scala/org/apache/spark/sql/execution/exchange/BroadcastExchangeExec.scala b/sql/core/src/main/scala/org/apache/spark/sql/execution/exchange/BroadcastExchangeExec.scala
index 531960a2477ed..a6d3ce076f4f1 100644
--- a/sql/core/src/main/scala/org/apache/spark/sql/execution/exchange/BroadcastExchangeExec.scala
+++ b/sql/core/src/main/scala/org/apache/spark/sql/execution/exchange/BroadcastExchangeExec.scala
@@ -21,7 +21,7 @@ import java.util.UUID
 import java.util.concurrent._
 
 import scala.concurrent.{ExecutionContext, Promise}
-import scala.concurrent.duration.NANOSECONDS
+import scala.concurrent.duration.{Duration, NANOSECONDS}
 import scala.util.control.NonFatal
 
 import org.apache.spark.{broadcast, SparkException}
@@ -107,15 +107,22 @@ case class BroadcastExchangeExec(
 
   @transient
   override lazy val relationFuture: Future[broadcast.Broadcast[Any]] = {
+    // Setup a job group here so later it may get cancelled by groupId if necessary.
+    sparkContext.setJobGroup(runId.toString, s"broadcast exchange (runId $runId)",
+      interruptOnCancel = true)
+    val beforeCollect = System.nanoTime()
+    // SPARK-35414: use executeCollectIteratorFuture() to submit a job before get the relationFuture
+    // This can ensure the broadcast job is submitted before shuffle map job in AQE
+    val collectFuture = child.executeCollectIteratorFuture()(
+      BroadcastExchangeExec.executionContext)
+
     SQLExecution.withThreadLocalCaptured[broadcast.Broadcast[Any]](
       sqlContext.sparkSession, BroadcastExchangeExec.executionContext) {
           try {
             // Setup a job group here so later it may get cancelled by groupId if necessary.
             sparkContext.setJobGroup(runId.toString, s"broadcast exchange (runId $runId)",
               interruptOnCancel = true)
-            val beforeCollect = System.nanoTime()
-            // Use executeCollect/executeCollectIterator to avoid conversion to Scala types
-            val (numRows, input) = child.executeCollectIterator()
+            val (numRows, input) = ThreadUtils.awaitResult(collectFuture, Duration.Inf)
             longMetric("numOutputRows") += numRows
             if (numRows >= MAX_BROADCAST_TABLE_ROWS) {
               throw new SparkException(
diff --git a/sql/core/src/test/scala/org/apache/spark/sql/execution/adaptive/AdaptiveQueryExecSuite.scala b/sql/core/src/test/scala/org/apache/spark/sql/execution/adaptive/AdaptiveQueryExecSuite.scala
index 690fdb1dc15fc..8f177f5f52313 100644
--- a/sql/core/src/test/scala/org/apache/spark/sql/execution/adaptive/AdaptiveQueryExecSuite.scala
+++ b/sql/core/src/test/scala/org/apache/spark/sql/execution/adaptive/AdaptiveQueryExecSuite.scala
@@ -23,7 +23,7 @@ import java.net.URI
 import org.apache.log4j.Level
 import org.scalatest.PrivateMethodTester
 
-import org.apache.spark.scheduler.{SparkListener, SparkListenerEvent, SparkListenerJobStart}
+import org.apache.spark.scheduler.{SparkListener, SparkListenerEvent, SparkListenerJobStart, SparkListenerStageSubmitted, StageInfo}
 import org.apache.spark.sql.{Dataset, QueryTest, Row, SparkSession, Strategy}
 import org.apache.spark.sql.catalyst.optimizer.{BuildLeft, BuildRight}
 import org.apache.spark.sql.catalyst.plans.logical.{Aggregate, LogicalPlan}
@@ -1817,4 +1817,37 @@ class AdaptiveQueryExecSuite
       }
     }
   }
+
+  test("SPARK-35414: Submit broadcast job first to avoid broadcast timeout in AQE") {
+    val shuffleMapTaskParallelism = 10
+
+    val df = spark.range(0, 1000, 1, shuffleMapTaskParallelism)
+      .select($"id" % 26, $"id" % 10)
+      .toDF("index", "pv")
+    val dim = Range(0, 26).map(x => (x, ('a' + x).toChar.toString))
+      .toDF("index", "name")
+      .coalesce(1)
+    val testDf = df.groupBy("index")
+      .agg(sum($"pv").alias("pv"))
+      .join(dim, Seq("index"))
+
+    val stageInfos = scala.collection.mutable.ArrayBuffer[StageInfo]()
+    val listener = new SparkListener {
+      override def onStageSubmitted(stageSubmitted: SparkListenerStageSubmitted): Unit = {
+        stageInfos += stageSubmitted.stageInfo
+      }
+    }
+    spark.sparkContext.addSparkListener(listener)
+
+    withSQLConf(SQLConf.ADAPTIVE_EXECUTION_ENABLED.key -> "true") {
+      val result = testDf.collect()
+      assert(result.length == 26)
+      val sortedStageInfos = stageInfos.sortBy(_.submissionTime)
+      assert(sortedStageInfos.size > 2)
+      // this is broadcast stage
+      assert(sortedStageInfos(0).numTasks == 1)
+      // this is shuffle map stage
+      assert(sortedStageInfos(1).numTasks == shuffleMapTaskParallelism)
+    }
+  }
 }