diff --git a/include/register-atfork.h b/include/register-atfork.h
index be631137b6..1852239b30 100644
--- a/include/register-atfork.h
+++ b/include/register-atfork.h
@@ -26,6 +26,7 @@ struct fork_handler
   void (*parent_handler) (void);
   void (*child_handler) (void);
   void *dso_handle;
+  uint64_t id;
 };
 
 /* Function to call to unregister fork handlers.  */
@@ -39,19 +40,18 @@ enum __run_fork_handler_type
   atfork_run_parent
 };
 
-/* Run the atfork handlers and lock/unlock the internal lock depending
-   of the WHO argument:
-
-   - atfork_run_prepare: run all the PREPARE_HANDLER in reverse order of
-			 insertion and locks the internal lock.
-   - atfork_run_child: run all the CHILD_HANDLER and unlocks the internal
-		       lock.
-   - atfork_run_parent: run all the PARENT_HANDLER and unlocks the internal
-			lock.
-
-   Perform locking only if DO_LOCKING.  */
-extern void __run_fork_handlers (enum __run_fork_handler_type who,
-				 _Bool do_locking) attribute_hidden;
+/* Run the atfork prepare handlers in the reverse order of registration and
+return the ID of the last registered handler.  If DO_LOCKING is true, the
+internal lock is held locked upon return.  */
+extern uint64_t __run_prefork_handlers (_Bool do_locking) attribute_hidden;
+
+/* Given a handler type (parent or child), run all the atfork handlers in
+the order of registration up to and including the handler with id equal to
+LASTRUN.  If DO_LOCKING is true, the internal lock is unlocked prior to
+return.  */
+extern void __run_postfork_handlers (enum __run_fork_handler_type who,
+				     _Bool do_locking,
+				     uint64_t lastrun) attribute_hidden;
 
 /* C library side function to register new fork handlers.  */
 extern int __register_atfork (void (*__prepare) (void),
diff --git a/posix/fork.c b/posix/fork.c
index 6b50c091f9..e1be3422ea 100644
--- a/posix/fork.c
+++ b/posix/fork.c
@@ -46,8 +46,9 @@ __libc_fork (void)
      best effort to make is async-signal-safe at least for single-thread
      case.  */
   bool multiple_threads = __libc_single_threaded == 0;
+  uint64_t lastrun;
 
-  __run_fork_handlers (atfork_run_prepare, multiple_threads);
+  lastrun = __run_prefork_handlers (multiple_threads);
 
   struct nss_database_data nss_database_data;
 
@@ -105,7 +106,7 @@ __libc_fork (void)
       reclaim_stacks ();
 
       /* Run the handlers registered for the child.  */
-      __run_fork_handlers (atfork_run_child, multiple_threads);
+      __run_postfork_handlers (atfork_run_child, multiple_threads, lastrun);
     }
   else
     {
@@ -123,7 +124,7 @@ __libc_fork (void)
 	}
 
       /* Run the handlers registered for the parent.  */
-      __run_fork_handlers (atfork_run_parent, multiple_threads);
+      __run_postfork_handlers (atfork_run_parent, multiple_threads, lastrun);
 
       if (pid < 0)
 	__set_errno (save_errno);
diff --git a/posix/register-atfork.c b/posix/register-atfork.c
index 74b1b58404..4c2a4abc8b 100644
--- a/posix/register-atfork.c
+++ b/posix/register-atfork.c
@@ -26,7 +26,7 @@
 #include <malloc/dynarray-skeleton.c>
 
 static struct fork_handler_list fork_handlers;
-static bool fork_handler_init = false;
+static uint64_t fork_handler_counter = 0;
 
 static int atfork_lock = LLL_LOCK_INITIALIZER;
 
@@ -36,11 +36,8 @@ __register_atfork (void (*prepare) (void), void (*parent) (void),
 {
   lll_lock (atfork_lock, LLL_PRIVATE);
 
-  if (!fork_handler_init)
-    {
+  if (fork_handler_counter == 0)
       fork_handler_list_init (&fork_handlers);
-      fork_handler_init = true;
-    }
 
   struct fork_handler *newp = fork_handler_list_emplace (&fork_handlers);
   if (newp != NULL)
@@ -49,6 +46,11 @@ __register_atfork (void (*prepare) (void), void (*parent) (void),
       newp->parent_handler = parent;
       newp->child_handler = child;
       newp->dso_handle = dso_handle;
+
+      /* IDs assigned to handlers start at 1 and increment with handler
+      registration.  Un-registering a handlers discards the corresponding
+      ID. It is not reused in future registrations.  */
+      newp->id = ++fork_handler_counter;
     }
 
   /* Release the lock.  */
@@ -103,37 +105,120 @@ __unregister_atfork (void *dso_handle)
   lll_unlock (atfork_lock, LLL_PRIVATE);
 }
 
-void
-__run_fork_handlers (enum __run_fork_handler_type who, _Bool do_locking)
+uint64_t
+__run_prefork_handlers (_Bool do_locking)
 {
-  struct fork_handler *runp;
+  uint64_t lastrun;
 
-  if (who == atfork_run_prepare)
+  if (do_locking)
+    lll_lock (atfork_lock, LLL_PRIVATE);
+
+  /* We run `prepare' handlers from last to first.  After fork, only
+  handlers up to the last handler found here (pre-fork) will be run.
+  Handlers registered between the pre-fork and post-fork calls to
+  __run_fork_handlers will be positioned after this last handler, and
+  since their prepare handlers won't be run now, their parent/child
+  handlers should also be ignored.  */
+  lastrun = fork_handler_counter;
+
+  size_t sl = fork_handler_list_size (&fork_handlers);
+  for (size_t i = sl; i > 0;)
     {
-      if (do_locking)
-	lll_lock (atfork_lock, LLL_PRIVATE);
-      size_t sl = fork_handler_list_size (&fork_handlers);
-      for (size_t i = sl; i > 0; i--)
-	{
-	  runp = fork_handler_list_at (&fork_handlers, i - 1);
-	  if (runp->prepare_handler != NULL)
-	    runp->prepare_handler ();
-	}
+      struct fork_handler *runp
+        = fork_handler_list_at (&fork_handlers, i - 1);
+
+      uint64_t id = runp->id;
+
+      if (runp->prepare_handler != NULL)
+        {
+          if (do_locking)
+            lll_unlock (atfork_lock, LLL_PRIVATE);
+
+          runp->prepare_handler ();
+
+          if (do_locking)
+            lll_lock (atfork_lock, LLL_PRIVATE);
+        }
+
+      /* We unlocked, ran the handler, and locked again.  In the
+      meanwhile, one or more deregistrations could have occurred leading
+      to the current (just run) handler being moved up the list or even
+      removed from the list itself.  Since handler IDs are guaranteed to
+      to be in increasing order, the next handler has to have:  */
+
+      /* A. An earlier position than the current one has.  */
+      i--;
+
+      /* B. A lower ID than the current one does.  */
+      while (i > 0
+             && fork_handler_list_at (&fork_handlers, i - 1)->id >= id)
+        i--;
     }
-  else
+
+  return lastrun;
+}
+
+void
+__run_postfork_handlers (enum __run_fork_handler_type who, _Bool do_locking,
+                         uint64_t lastrun)
+{
+  size_t sl = fork_handler_list_size (&fork_handlers);
+  for (size_t i = 0; i < sl;)
     {
-      size_t sl = fork_handler_list_size (&fork_handlers);
-      for (size_t i = 0; i < sl; i++)
-	{
-	  runp = fork_handler_list_at (&fork_handlers, i);
-	  if (who == atfork_run_child && runp->child_handler)
-	    runp->child_handler ();
-	  else if (who == atfork_run_parent && runp->parent_handler)
-	    runp->parent_handler ();
-	}
-      if (do_locking)
-	lll_unlock (atfork_lock, LLL_PRIVATE);
+      struct fork_handler *runp = fork_handler_list_at (&fork_handlers, i);
+      uint64_t id = runp->id;
+
+      /* prepare handlers were not run for handlers with ID > LASTRUN.
+      Thus, parent/child handlers will also not be run.  */
+      if (id > lastrun)
+        break;
+
+      if (who == atfork_run_child && runp->child_handler)
+        {
+          if (do_locking)
+            lll_unlock (atfork_lock, LLL_PRIVATE);
+
+          runp->child_handler ();
+
+          if (do_locking)
+            lll_lock (atfork_lock, LLL_PRIVATE);
+        }
+      else if (who == atfork_run_parent && runp->parent_handler)
+        {
+          if (do_locking)
+            lll_unlock (atfork_lock, LLL_PRIVATE);
+
+          runp->parent_handler ();
+
+          if (do_locking)
+            lll_lock (atfork_lock, LLL_PRIVATE);
+        }
+
+      /* We unlocked, ran the handler, and locked again.  In the
+      meanwhile, one or more deregistrations could have occurred leading
+      to the current (just run) handler being moved up the list or even
+      removed from the list itself.  Since handler IDs are guaranteed to
+      to be in increasing order, the next handler has to have:  */
+
+      if (fork_handler_list_size (&fork_handlers) > i
+          && fork_handler_list_at (&fork_handlers, i)->id == id)
+        /* No deregistrations occurred.  */
+        i++;
+      else
+        {
+          /* Some deregistrations have occurred, and the next handler to
+          be run is the first handler in the list to have an ID higher
+          than the current one.  */
+          sl = fork_handler_list_size (&fork_handlers);
+          for (i = 0; i < sl; i++)
+            {
+              if (fork_handler_list_at (&fork_handlers, i)->id > id)
+                break;
+            }
+        }
     }
+      if (do_locking)
+    lll_unlock (atfork_lock, LLL_PRIVATE);
 }
 
 
diff --git a/sysdeps/pthread/Makefile b/sysdeps/pthread/Makefile
index e901c51df0..5a53fb30d6 100644
--- a/sysdeps/pthread/Makefile
+++ b/sysdeps/pthread/Makefile
@@ -154,16 +154,17 @@ tests += tst-cancelx2 tst-cancelx3 tst-cancelx6 tst-cancelx8 tst-cancelx9 \
 	 tst-cleanupx0 tst-cleanupx1 tst-cleanupx2 tst-cleanupx3
 
 ifeq ($(build-shared),yes)
-tests += tst-atfork2 tst-pt-tls4 tst-_res1 tst-fini1 tst-create1
+tests += tst-atfork2 tst-pt-tls4 tst-_res1 tst-fini1 tst-create1 tst-atfork3
 tests-nolibpthread += tst-fini1
 endif
 
 modules-names += tst-atfork2mod tst-tls4moda tst-tls4modb \
 		 tst-_res1mod1 tst-_res1mod2 tst-fini1mod \
-		 tst-create1mod
+		 tst-create1mod tst-atfork3mod
 test-modules = $(addprefix $(objpfx),$(addsuffix .so,$(modules-names)))
 
 tst-atfork2mod.so-no-z-defs = yes
+tst-atfork3mod.so-no-z-defs = yes
 tst-create1mod.so-no-z-defs = yes
 
 ifeq ($(build-shared),yes)
@@ -226,8 +227,13 @@ tst-atfork2-ENV = MALLOC_TRACE=$(objpfx)tst-atfork2.mtrace \
 		  LD_PRELOAD=$(common-objpfx)/malloc/libc_malloc_debug.so
 $(objpfx)tst-atfork2mod.so: $(shared-thread-library)
 
+$(objpfx)tst-atfork3: $(shared-thread-library)
+LDFLAGS-tst-atfork3 = -rdynamic
+$(objpfx)tst-atfork3mod.so: $(shared-thread-library)
+
 ifeq ($(build-shared),yes)
 $(objpfx)tst-atfork2.out: $(objpfx)tst-atfork2mod.so
+$(objpfx)tst-atfork3.out: $(objpfx)tst-atfork3mod.so
 endif
 
 ifeq ($(build-shared),yes)
diff --git a/sysdeps/pthread/tst-atfork3.c b/sysdeps/pthread/tst-atfork3.c
new file mode 100644
index 0000000000..826539c1e9
--- /dev/null
+++ b/sysdeps/pthread/tst-atfork3.c
@@ -0,0 +1,130 @@
+/* pthread_atfork supports handlers that call pthread_atfork or dlclose.
+   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 <dlfcn.h>
+#include <stdio.h>
+#include <pthread.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <unistd.h>
+#include <support/check.h>
+#include <stdlib.h>
+
+static void *
+thread_func (void *x)
+{
+  return NULL;
+}
+
+static unsigned int second_atfork_handler_runcount = 0;
+
+static void
+second_atfork_handler (void)
+{
+  second_atfork_handler_runcount++;
+}
+
+void *h;
+
+static unsigned int atfork_handler_runcount = 0;
+
+static void
+prepare (void)
+{
+  /* These atfork handlers are registered while atfork handlers are being
+  executed and thus will not be executed during the corresponding fork.  */
+  pthread_atfork (second_atfork_handler,
+                  second_atfork_handler,
+                  second_atfork_handler);
+
+  /* This will de-register the atfork handlers registered by the dlopen'd
+  library and so they will not be executed.  */
+  dlclose (h);
+
+  atfork_handler_runcount++;
+}
+
+static void
+after (void)
+{
+  atfork_handler_runcount++;
+}
+
+static int
+do_test (void)
+{
+  /* Make sure __libc_single_threaded is 0.  */
+  pthread_t t;
+  pthread_attr_t attr;
+  TEST_VERIFY_EXIT (pthread_attr_init (&attr) == 0);
+  TEST_VERIFY_EXIT (pthread_attr_setdetachstate (&attr,
+                                                 PTHREAD_CREATE_DETACHED)
+                    == 0);
+  TEST_VERIFY_EXIT (pthread_create (&t, &attr, thread_func, NULL) == 0);
+
+  void (*reg_atfork_handlers) (void);
+
+  h = dlopen ("tst-atfork3mod.so", RTLD_LAZY);
+  TEST_VERIFY_EXIT (h != NULL);
+
+  * (void **) (&reg_atfork_handlers) = dlsym (h, "reg_atfork_handlers");
+  TEST_VERIFY_EXIT (reg_atfork_handlers != NULL);
+
+  reg_atfork_handlers ();
+
+  /* We register our atfork handlers *after* loading the module so that our
+  prepare handler is called first at fork, where we then dlclose the module
+  before its prepare handler has a chance to be called.  */
+  pthread_atfork (prepare, after, after);
+
+  pid_t pid = fork ();
+  TEST_VERIFY_EXIT (pid >= 0);
+
+  /* Both the parent and the child processes should observe this.  */
+  TEST_VERIFY_EXIT (atfork_handler_runcount == 2);
+  TEST_VERIFY_EXIT (second_atfork_handler_runcount == 0);
+
+  if (pid > 0)
+    {
+      int childstat;
+
+      wait (&childstat);
+      TEST_VERIFY_EXIT (WIFEXITED (childstat)
+                        && WEXITSTATUS (childstat) == 0);
+
+      /* This time, the second set of atfork handlers should also be called
+      since the handlers are already in place before fork is called.  */
+
+      pid = fork ();
+      TEST_VERIFY_EXIT (pid >= 0);
+
+      TEST_VERIFY_EXIT (atfork_handler_runcount == 4);
+      TEST_VERIFY_EXIT (second_atfork_handler_runcount == 2);
+
+      if (pid > 0)
+        {
+          wait (&childstat);
+          TEST_VERIFY_EXIT (WIFEXITED (childstat)
+                            && WEXITSTATUS (childstat) == 0);
+        }
+    }
+
+  return 0;
+}
+
+#include <support/test-driver.c>
diff --git a/sysdeps/pthread/tst-atfork3mod.c b/sysdeps/pthread/tst-atfork3mod.c
new file mode 100644
index 0000000000..78e2a06f11
--- /dev/null
+++ b/sysdeps/pthread/tst-atfork3mod.c
@@ -0,0 +1,48 @@
+/* pthread_atfork supports handlers that call pthread_atfork or dlclose.
+   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 <pthread.h>
+#include <stdlib.h>
+
+/* This dynamically loaded library simply registers its atfork handlers when
+asked to.  The atfork handlers should never be executed because the library
+is unloaded before fork is called by the test program.  */
+
+static void
+prepare (void)
+{
+  abort ();
+}
+
+static void
+parent (void)
+{
+  abort ();
+}
+
+static void
+child (void)
+{
+  abort ();
+}
+
+void
+reg_atfork_handlers (void)
+{
+  pthread_atfork (prepare, parent, child);
+}
