diff --git a/rclcpp/include/rclcpp/context.hpp b/rclcpp/include/rclcpp/context.hpp
index 5d7a6bcecf..f9d4118969 100644
--- a/rclcpp/include/rclcpp/context.hpp
+++ b/rclcpp/include/rclcpp/context.hpp
@@ -320,6 +320,11 @@ class Context : public std::enable_shared_from_this<Context>
     return sub_context;
   }
 
+  /// Return the global logging configure mutex.
+  RCLCPP_PUBLIC
+  std::shared_ptr<std::mutex>
+  get_rcl_logging_configure_mutex();
+
 protected:
   // Called by constructor and destructor to clean up by finalizing the
   // shutdown rcl context and preparing for a new init cycle.
diff --git a/rclcpp/src/rclcpp/context.cpp b/rclcpp/src/rclcpp/context.cpp
index 1918a77a02..fac2712369 100644
--- a/rclcpp/src/rclcpp/context.cpp
+++ b/rclcpp/src/rclcpp/context.cpp
@@ -364,6 +364,12 @@ Context::interrupt_all_wait_sets()
   }
 }
 
+std::shared_ptr<std::mutex>
+Context::get_rcl_logging_configure_mutex()
+{
+  return logging_configure_mutex_;
+}
+
 void
 Context::clean_up()
 {
diff --git a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
index f055abaa25..43529089a2 100644
--- a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
+++ b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp
@@ -65,10 +65,13 @@ NodeBase::NodeBase(
   // Create the rcl node and store it in a shared_ptr with a custom destructor.
   std::unique_ptr<rcl_node_t> rcl_node(new rcl_node_t(rcl_get_zero_initialized_node()));
 
-  ret = rcl_node_init(
-    rcl_node.get(),
-    node_name.c_str(), namespace_.c_str(),
-    context_->get_rcl_context().get(), &rcl_node_options);
+  {
+    std::lock_guard<std::mutex> guard(*(context_->get_rcl_logging_configure_mutex()));
+    ret = rcl_node_init(
+      rcl_node.get(),
+      node_name.c_str(), namespace_.c_str(),
+      context_->get_rcl_context().get(), &rcl_node_options);
+  }
   if (ret != RCL_RET_OK) {
     // Finalize the interrupt guard condition.
     finalize_notify_guard_condition();
@@ -123,8 +126,14 @@ NodeBase::NodeBase(
 
   node_handle_.reset(
     rcl_node.release(),
-    [](rcl_node_t * node) -> void {
-      if (rcl_node_fini(node) != RCL_RET_OK) {
+    [this](rcl_node_t * node) -> void {
+      rcl_ret_t ret;
+      {
+        std::lock_guard<std::mutex> guard(
+          *(this->context_->get_rcl_logging_configure_mutex()));
+        ret = rcl_node_fini(node);
+      }
+      if (ret != RCL_RET_OK) {
         RCUTILS_LOG_ERROR_NAMED(
           "rclcpp",
           "Error in destruction of rcl node handle: %s", rcl_get_error_string().str);