diff --git a/components/console/esp_console_common.c b/components/console/esp_console_common.c
index ba80b13806a..a0844af386b 100644
--- a/components/console/esp_console_common.c
+++ b/components/console/esp_console_common.c
@@ -33,6 +33,11 @@ void esp_console_repl_task(void *args)
         xSemaphoreTake(repl_com->state_mux, portMAX_DELAY);
     }
 
+    /* Tell esp_console_start_repl() that state_mux is now held. */
+    if (repl_com->task_ready != NULL) {
+        xSemaphoreGive(repl_com->task_ready);
+    }
+
     /* Change standard input and output of the task if the requested UART is
      * NOT the default one. This block will replace stdin, stdout and stderr.
      */
@@ -356,5 +361,10 @@ esp_err_t esp_console_start_repl(esp_console_repl_t *repl)
 
     repl_com->state = CONSOLE_REPL_STATE_START;
     xTaskNotifyGive(repl_com->task_hdl);
+
+    /* Return only once the task holds state_mux, so a stop can join it. */
+    if (repl_com->task_ready != NULL) {
+        xSemaphoreTake(repl_com->task_ready, portMAX_DELAY);
+    }
     return ESP_OK;
 }
diff --git a/components/console/esp_console_repl_internal.c b/components/console/esp_console_repl_internal.c
index b2c291d4676..ca766ea22af 100644
--- a/components/console/esp_console_repl_internal.c
+++ b/components/console/esp_console_repl_internal.c
@@ -92,6 +92,14 @@ esp_err_t esp_console_internal_set_event_fd(esp_console_repl_com_t *repl_com)
     }
     xSemaphoreGive(repl_com->state_mux);
 
+    repl_com->task_ready = xSemaphoreCreateBinary();
+    if (repl_com->task_ready == NULL) {
+        ESP_LOGE(TAG, "task_ready create error");
+        vSemaphoreDelete(repl_com->state_mux);
+        repl_com->state_mux = NULL;
+        return ESP_ERR_NO_MEM;
+    }
+
     return ESP_OK;
 }
 
@@ -123,6 +131,9 @@ esp_err_t esp_console_common_deinit(esp_console_repl_com_t *repl_com)
     vSemaphoreDelete(repl_com->state_mux);
     repl_com->state_mux =  NULL;
 
+    vSemaphoreDelete(repl_com->task_ready);
+    repl_com->task_ready = NULL;
+
     /* Unregister the heap function to avoid memory leak, since it is created
      * every time a console init is called. */
     esp_err_t ret = esp_console_deregister_help_command();
diff --git a/components/console/private_include/console_private.h b/components/console/private_include/console_private.h
index 863415ad623..45b986dd3c8 100644
--- a/components/console/private_include/console_private.h
+++ b/components/console/private_include/console_private.h
@@ -42,6 +42,7 @@ typedef struct {
     TaskHandle_t task_hdl;              // REPL task handle
     size_t max_cmdline_length;          // Maximum length of a command line. If 0, default value will be used.
     size_t max_cmdline_args;            // Maximum number of command line arguments to parse. If 0, default value will be used.
+    SemaphoreHandle_t task_ready;       // Given once the REPL task holds state_mux
 } esp_console_repl_com_t;
 
 typedef struct {