diff --git a/elf/Makefile b/elf/Makefile
index d9cf72ae82..bc9df546b9 100644
--- a/elf/Makefile
+++ b/elf/Makefile
@@ -374,6 +374,7 @@ tests += \
   tst-audit18 \
   tst-audit19b \
   tst-audit20 \
+  tst-audit21 \
   tst-audit22 \
   tst-audit23 \
   tst-auditmany \
@@ -681,6 +682,8 @@ modules-names = \
   tst-auditmod19a \
   tst-auditmod19b \
   tst-auditmod20 \
+  tst-auditmod21a \
+  tst-auditmod21b \
   tst-auditmod22 \
   tst-auditmod23 \
   tst-auxvalmod \
@@ -2113,6 +2116,11 @@ tst-audit19b-ARGS = -- $(host-test-program-cmd)
 $(objpfx)tst-audit20.out: $(objpfx)tst-auditmod20.so
 tst-audit20-ENV = LD_AUDIT=$(objpfx)tst-auditmod20.so
 
+$(objpfx)tst-audit21: $(shared-thread-library)
+$(objpfx)tst-audit21.out: $(objpfx)tst-auditmod21a.so
+$(objpfx)tst-auditmod21a.so: $(objpfx)tst-auditmod21b.so
+tst-audit21-ENV = LD_AUDIT=$(objpfx)tst-auditmod21a.so
+
 $(objpfx)tst-audit22.out: $(objpfx)tst-auditmod22.so
 tst-audit22-ARGS = -- $(host-test-program-cmd)
 
diff --git a/elf/dl-tls.c b/elf/dl-tls.c
index 8ba70c9a9d..ccbe39660b 100644
--- a/elf/dl-tls.c
+++ b/elf/dl-tls.c
@@ -520,7 +520,7 @@ _dl_resize_dtv (dtv_t *dtv, size_t max_modid)
 
 
 void *
-_dl_allocate_tls_init (void *result)
+_dl_allocate_tls_init (void *result, bool init_tls)
 {
   if (result == NULL)
     /* The memory allocation failed.  */
@@ -593,7 +593,14 @@ _dl_allocate_tls_init (void *result)
 	     some platforms use in static programs requires it.  */
 	  dtv[map->l_tls_modid].pointer.val = dest;
 
-	  /* Copy the initialization image and clear the BSS part.  */
+	  /* Copy the initialization image and clear the BSS part.  For
+	     audit modules or depedencies with initial-exec TLS, we can not
+	     set the initial TLS image on default loader initialization
+	     because it would already be set by the audit setup.  However,
+	     subsequent thread creation would need to follow the default
+	     behaviour.   */
+	  if (map->l_ns != LM_ID_BASE && !init_tls)
+	    continue;
 	  memset (__mempcpy (dest, map->l_tls_initimage,
 			     map->l_tls_initimage_size), '\0',
 		  map->l_tls_blocksize - map->l_tls_initimage_size);
@@ -620,7 +627,7 @@ _dl_allocate_tls (void *mem)
 {
   return _dl_allocate_tls_init (mem == NULL
 				? _dl_allocate_tls_storage ()
-				: allocate_dtv (mem));
+				: allocate_dtv (mem), true);
 }
 rtld_hidden_def (_dl_allocate_tls)
 
diff --git a/elf/rtld.c b/elf/rtld.c
index 8d233f77be..10436f7034 100644
--- a/elf/rtld.c
+++ b/elf/rtld.c
@@ -2462,7 +2462,7 @@ dl_main (const ElfW(Phdr) *phdr,
      into the main thread's TLS area, which we allocated above.
      Note: thread-local variables must only be accessed after completing
      the next step.  */
-  _dl_allocate_tls_init (tcbp);
+  _dl_allocate_tls_init (tcbp, false);
 
   /* And finally install it for the main thread.  */
   if (! tls_init_tp_called)
diff --git a/elf/tst-audit21.c b/elf/tst-audit21.c
new file mode 100644
index 0000000000..41446a2107
--- /dev/null
+++ b/elf/tst-audit21.c
@@ -0,0 +1,42 @@
+/* Check DT_AUDIT with static TLS.
+   Copyright (C) 2022 Free Software Foundation, Inc.
+   This file is part of the GNU C Library.
+
+   The GNU C Library is free software; you can redistribute it and/or
+   modify it under the terms of the GNU Lesser General Public
+   License as published by the Free Software Foundation; either
+   version 2.1 of the License, or (at your option) any later version.
+
+   The GNU C Library is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+   Lesser General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public
+   License along with the GNU C Library; if not, see
+   <https://www.gnu.org/licenses/>.  */
+
+#include <ctype.h>
+#include <support/xthread.h>
+#include <support/check.h>
+
+static volatile __thread int out __attribute__ ((tls_model ("initial-exec")));
+
+static void *
+tf (void *arg)
+{
+  TEST_COMPARE (out, 0);
+  out = isspace (' ');
+  return NULL;
+}
+
+int main (int argc, char *argv[])
+{
+  TEST_COMPARE (out, 0);
+  out = isspace (' ');
+
+  pthread_t t = xpthread_create (NULL, tf, NULL);
+  xpthread_join (t);
+
+  return 0;
+}
diff --git a/elf/tst-auditmod21a.c b/elf/tst-auditmod21a.c
new file mode 100644
index 0000000000..4c0f256969
--- /dev/null
+++ b/elf/tst-auditmod21a.c
@@ -0,0 +1,80 @@
+/* Check DT_AUDIT with static TLS.
+   Copyright (C) 2022 Free Software Foundation, Inc.
+   This file is part of the GNU C Library.
+
+   The GNU C Library is free software; you can redistribute it and/or
+   modify it under the terms of the GNU Lesser General Public
+   License as published by the Free Software Foundation; either
+   version 2.1 of the License, or (at your option) any later version.
+
+   The GNU C Library is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+   Lesser General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public
+   License along with the GNU C Library; if not, see
+   <https://www.gnu.org/licenses/>.  */
+
+#include <ctype.h>
+#include <stdlib.h>
+#include <link.h>
+
+#define tls_ie __attribute__ ((tls_model ("initial-exec")))
+
+__thread int tls_var0 tls_ie;
+__thread int tls_var1 tls_ie = 0x10;
+
+/* Defined at tst-auditmod21b.so  */
+extern __thread int tls_var2;
+extern __thread int tls_var3;
+
+static volatile int out;
+
+static void
+call_libc (void)
+{
+  /* isspace access the initial-exec glibc TLS variables, which are
+     setup in glibc initialization.  */
+  out = isspace (' ');
+}
+
+unsigned int
+la_version (unsigned int v)
+{
+  tls_var0 = 0x1;
+  if (tls_var1 != 0x10)
+    abort ();
+  tls_var1 = 0x20;
+
+  tls_var2 = 0x2;
+  if (tls_var3 != 0x20)
+    abort ();
+  tls_var3 = 0x40;
+
+  call_libc ();
+
+  return LAV_CURRENT;
+}
+
+unsigned int
+la_objopen (struct link_map* map, Lmid_t lmid, uintptr_t* cookie)
+{
+  call_libc ();
+  *cookie = (uintptr_t) map;
+  return 0;
+}
+
+void
+la_activity (uintptr_t* cookie, unsigned int flag)
+{
+  if (tls_var0 != 0x1 || tls_var1 != 0x20)
+    abort ();
+  call_libc ();
+}
+
+void
+la_preinit (uintptr_t* cookie)
+{
+  call_libc ();
+}
diff --git a/elf/tst-auditmod21b.c b/elf/tst-auditmod21b.c
new file mode 100644
index 0000000000..69705cf75a
--- /dev/null
+++ b/elf/tst-auditmod21b.c
@@ -0,0 +1,22 @@
+/* Check DT_AUDIT with static TLS.
+   Copyright (C) 2022 Free Software Foundation, Inc.
+   This file is part of the GNU C Library.
+
+   The GNU C Library is free software; you can redistribute it and/or
+   modify it under the terms of the GNU Lesser General Public
+   License as published by the Free Software Foundation; either
+   version 2.1 of the License, or (at your option) any later version.
+
+   The GNU C Library is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+   Lesser General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public
+   License along with the GNU C Library; if not, see
+   <https://www.gnu.org/licenses/>.  */
+
+#define tls_ie __attribute__ ((tls_model ("initial-exec")))
+
+__thread int tls_var2 tls_ie;
+__thread int tls_var3 tls_ie = 0x20;
diff --git a/nptl/allocatestack.c b/nptl/allocatestack.c
index 3fb085f9a1..34a33164ff 100644
--- a/nptl/allocatestack.c
+++ b/nptl/allocatestack.c
@@ -138,7 +138,7 @@ get_cached_stack (size_t *sizep, void **memp)
   memset (dtv, '\0', (dtv[-1].counter + 1) * sizeof (dtv_t));
 
   /* Re-initialize the TLS.  */
-  _dl_allocate_tls_init (TLS_TPADJ (result));
+  _dl_allocate_tls_init (TLS_TPADJ (result), true);
 
   return result;
 }
diff --git a/sysdeps/generic/ldsodefs.h b/sysdeps/generic/ldsodefs.h
index f6b2b415a6..97061bdf9f 100644
--- a/sysdeps/generic/ldsodefs.h
+++ b/sysdeps/generic/ldsodefs.h
@@ -1282,7 +1282,7 @@ extern void _dl_allocate_static_tls (struct link_map *map) attribute_hidden;
 /* These are internal entry points to the two halves of _dl_allocate_tls,
    only used within rtld.c itself at startup time.  */
 extern void *_dl_allocate_tls_storage (void) attribute_hidden;
-extern void *_dl_allocate_tls_init (void *);
+extern void *_dl_allocate_tls_init (void *, bool);
 rtld_hidden_proto (_dl_allocate_tls_init)
 
 /* Deallocate memory allocated with _dl_allocate_tls.  */
