diff --git a/include/linux/rcupdate.h b/include/linux/rcupdate.h
index 640152fedcde..54b2ebb20313 100644
--- a/include/linux/rcupdate.h
+++ b/include/linux/rcupdate.h
@@ -321,6 +321,8 @@ static inline void rcu_user_hooks_switch(struct task_struct *prev,
  * macro rather than an inline function to avoid #include hell.
  */
 #ifdef CONFIG_TASKS_RCU
+#define TASKS_RCU(x) x
+extern struct srcu_struct tasks_rcu_exit_srcu;
 #define rcu_note_voluntary_context_switch(t) \
 	do { \
 		preempt_disable(); /* Exclude synchronize_sched(); */ \
@@ -329,6 +331,7 @@ static inline void rcu_user_hooks_switch(struct task_struct *prev,
 		preempt_enable(); \
 	} while (0)
 #else /* #ifdef CONFIG_TASKS_RCU */
+#define TASKS_RCU(x) do { } while (0)
 #define rcu_note_voluntary_context_switch(t)	do { } while (0)
 #endif /* #else #ifdef CONFIG_TASKS_RCU */
 
diff --git a/kernel/exit.c b/kernel/exit.c
index 32c58f7433a3..d13f2eec4bb8 100644
--- a/kernel/exit.c
+++ b/kernel/exit.c
@@ -667,6 +667,7 @@ void do_exit(long code)
 {
 	struct task_struct *tsk = current;
 	int group_dead;
+	TASKS_RCU(int tasks_rcu_i);
 
 	profile_task_exit(tsk);
 
@@ -775,6 +776,7 @@ void do_exit(long code)
 	 */
 	flush_ptrace_hw_breakpoint(tsk);
 
+	TASKS_RCU(tasks_rcu_i = __srcu_read_lock(&tasks_rcu_exit_srcu));
 	exit_notify(tsk, group_dead);
 	proc_exit_connector(tsk);
 #ifdef CONFIG_NUMA
@@ -814,6 +816,7 @@ void do_exit(long code)
 	if (tsk->nr_dirtied)
 		__this_cpu_add(dirty_throttle_leaks, tsk->nr_dirtied);
 	exit_rcu();
+	TASKS_RCU(__srcu_read_unlock(&tasks_rcu_exit_srcu, tasks_rcu_i));
 
 	/*
 	 * The setting of TASK_RUNNING by try_to_wake_up() may be delayed
diff --git a/kernel/rcu/update.c b/kernel/rcu/update.c
index 5fd1ddbfcc55..403fc4ae539e 100644
--- a/kernel/rcu/update.c
+++ b/kernel/rcu/update.c
@@ -367,6 +367,13 @@ static struct rcu_head *rcu_tasks_cbs_head;
 static struct rcu_head **rcu_tasks_cbs_tail = &rcu_tasks_cbs_head;
 static DEFINE_RAW_SPINLOCK(rcu_tasks_cbs_lock);
 
+/* Track exiting tasks in order to allow them to be waited for. */
+DEFINE_SRCU(tasks_rcu_exit_srcu);
+
+/* Control stall timeouts.  Disable with <= 0, otherwise jiffies till stall. */
+static int rcu_task_stall_timeout __read_mostly = HZ * 60 * 3;
+module_param(rcu_task_stall_timeout, int, 0644);
+
 /* Post an RCU-tasks callback. */
 void call_rcu_tasks(struct rcu_head *rhp, void (*func)(struct rcu_head *rhp))
 {
@@ -517,6 +524,15 @@ static int __noreturn rcu_tasks_kthread(void *arg)
 		}
 		rcu_read_unlock();
 
+		/*
+		 * Wait for tasks that are in the process of exiting.
+		 * This does only part of the job, ensuring that all
+		 * tasks that were previously exiting reach the point
+		 * where they have disabled preemption, allowing the
+		 * later synchronize_sched() to finish the job.
+		 */
+		synchronize_srcu(&tasks_rcu_exit_srcu);
+
 		/*
 		 * Each pass through the following loop scans the list
 		 * of holdout tasks, removing any that are no longer
@@ -546,6 +562,11 @@ static int __noreturn rcu_tasks_kthread(void *arg)
 		 * ->rcu_tasks_holdout accesses to be within the grace
 		 * period, avoiding the need for memory barriers for
 		 * ->rcu_tasks_holdout accesses.
+		 *
+		 * In addition, this synchronize_sched() waits for exiting
+		 * tasks to complete their final preempt_disable() region
+		 * of execution, cleaning up after the synchronize_srcu()
+		 * above.
 		 */
 		synchronize_sched();