diff --git a/rclpy/rclpy/executors.py b/rclpy/rclpy/executors.py
index fd097a4f2..3e099d8fa 100644
--- a/rclpy/rclpy/executors.py
+++ b/rclpy/rclpy/executors.py
@@ -327,7 +327,7 @@ def spin_until_future_complete(
                 and not future.cancelled()
                 and not self._is_shutdown
             ):
-                self.spin_once_until_future_complete(future, timeout_sec)
+                self._spin_once_until_future_complete(future, timeout_sec)
         else:
             start = time.monotonic()
             end = start + timeout_sec
@@ -339,7 +339,7 @@ def spin_until_future_complete(
                 and not future.cancelled()
                 and not self._is_shutdown
             ):
-                self.spin_once_until_future_complete(future, timeout_left)
+                self._spin_once_until_future_complete(future, timeout_left)
                 now = time.monotonic()
 
                 if now >= end:
@@ -377,6 +377,13 @@ def spin_once_until_future_complete(
         """
         raise NotImplementedError()
 
+    def _spin_once_until_future_complete(
+        self,
+        future: Future,
+        timeout_sec: Optional[Union[float, TimeoutObject]] = None
+    ) -> None:
+        raise NotImplementedError()
+
     def _take_timer(self, tmr):
         try:
             with tmr.handle:
@@ -844,13 +851,20 @@ def _spin_once_impl(
     def spin_once(self, timeout_sec: Optional[float] = None) -> None:
         self._spin_once_impl(timeout_sec)
 
+    def _spin_once_until_future_complete(
+        self,
+        future: Future,
+        timeout_sec: Optional[Union[float, TimeoutObject]] = None
+    ) -> None:
+        self._spin_once_impl(timeout_sec, future.done)
+
     def spin_once_until_future_complete(
         self,
         future: Future,
         timeout_sec: Optional[Union[float, TimeoutObject]] = None
     ) -> None:
         future.add_done_callback(lambda x: self.wake())
-        self._spin_once_impl(timeout_sec, future.done)
+        self._spin_once_until_future_complete(future, timeout_sec)
 
 
 class MultiThreadedExecutor(Executor):
@@ -916,10 +930,17 @@ def _spin_once_impl(
     def spin_once(self, timeout_sec: Optional[float] = None) -> None:
         self._spin_once_impl(timeout_sec)
 
+    def _spin_once_until_future_complete(
+        self,
+        future: Future,
+        timeout_sec: Optional[Union[float, TimeoutObject]] = None
+    ) -> None:
+        self._spin_once_impl(timeout_sec, future.done)
+
     def spin_once_until_future_complete(
         self,
         future: Future,
         timeout_sec: Optional[Union[float, TimeoutObject]] = None
     ) -> None:
         future.add_done_callback(lambda x: self.wake())
-        self._spin_once_impl(timeout_sec, future.done)
+        self._spin_once_until_future_complete(future, timeout_sec)