diff --git a/src/cpp/fastdds/domain/DomainParticipantImpl.cpp b/src/cpp/fastdds/domain/DomainParticipantImpl.cpp
index a457b20e595..d0234bf41c6 100644
--- a/src/cpp/fastdds/domain/DomainParticipantImpl.cpp
+++ b/src/cpp/fastdds/domain/DomainParticipantImpl.cpp
@@ -127,7 +127,10 @@ DomainParticipantImpl::DomainParticipantImpl(
 
     // Pre calculate participant id and generated guid
     participant_id_ = qos_.wire_protocol().participant_id;
-    eprosima::fastrtps::rtps::RTPSDomainImpl::create_participant_guid(participant_id_, guid_);
+    if (!eprosima::fastrtps::rtps::RTPSDomainImpl::create_participant_guid(participant_id_, guid_))
+    {
+        EPROSIMA_LOG_ERROR(DOMAIN_PARTICIPANT, "Error generating GUID for participant");
+    }
 
     /* Fill physical data properties if they are found and empty */
     std::string* property_value = fastrtps::rtps::PropertyPolicyHelper::find_property(
@@ -255,6 +258,12 @@ ReturnCode_t DomainParticipantImpl::enable()
     // Should not have been previously enabled
     assert(get_rtps_participant() == nullptr);
 
+    // Preconditions
+    if (guid_ == GUID_t::unknown())
+    {
+        return ReturnCode_t::RETCODE_PRECONDITION_NOT_MET;
+    }
+
     fastrtps::rtps::RTPSParticipantAttributes rtps_attr;
     utils::set_attributes_from_qos(rtps_attr, qos_);
     rtps_attr.participantID = participant_id_;
diff --git a/src/cpp/rtps/RTPSDomain.cpp b/src/cpp/rtps/RTPSDomain.cpp
index 17e80faa76e..4b5565b2783 100644
--- a/src/cpp/rtps/RTPSDomain.cpp
+++ b/src/cpp/rtps/RTPSDomain.cpp
@@ -636,19 +636,40 @@ uint32_t RTPSDomainImpl::get_id_for_prefix(
     return ret;
 }
 
-void RTPSDomainImpl::create_participant_guid(
-        int32_t& participant_id,
-        GUID_t& guid)
+bool RTPSDomainImpl::reserve_participant_id(
+        int32_t& participant_id)
 {
+    auto instance = get_instance();
+    std::lock_guard<std::mutex> guard(instance->m_mutex);
     if (participant_id < 0)
     {
-        auto instance = get_instance();
-        std::lock_guard<std::mutex> guard(instance->m_mutex);
         participant_id = instance->getNewId();
     }
+    else
+    {
+        if (instance->m_RTPSParticipantIDs[participant_id].reserved == true)
+        {
+            return false;
+        }
+        instance->m_RTPSParticipantIDs[participant_id].reserved = true;
+    }
+
+    return true;
+}
+
+bool RTPSDomainImpl::create_participant_guid(
+        int32_t& participant_id,
+        GUID_t& guid)
+{
+    bool ret_value = reserve_participant_id(participant_id);
+
+    if (ret_value)
+    {
+        guid_prefix_create(participant_id, guid.guidPrefix);
+        guid.entityId = c_EntityId_RTPSParticipant;
+    }
 
-    guid_prefix_create(participant_id, guid.guidPrefix);
-    guid.entityId = c_EntityId_RTPSParticipant;
+    return ret_value;
 }
 
 RTPSParticipantImpl* RTPSDomainImpl::find_local_participant(
diff --git a/src/cpp/rtps/RTPSDomainImpl.hpp b/src/cpp/rtps/RTPSDomainImpl.hpp
index fff743ec2e3..0fc9ff0d763 100644
--- a/src/cpp/rtps/RTPSDomainImpl.hpp
+++ b/src/cpp/rtps/RTPSDomainImpl.hpp
@@ -149,8 +149,10 @@ class RTPSDomainImpl
      * @param [in, out] participant_id   Participant identifier for which to generate the GUID.
      *                                   When negative, it will be modified to the first non-existent participant id.
      * @param [out]     guid             GUID corresponding to participant_id
+     *
+     * @return True value if guid was created. False in other case.
      */
-    static void create_participant_guid(
+    static bool create_participant_guid(
             int32_t& participant_id,
             GUID_t& guid);
 
@@ -216,6 +218,16 @@ class RTPSDomainImpl
             int32_t input_id,
             uint32_t& participant_id);
 
+    /**
+     * Reserves a participant id.
+     * @param [in, out] participant_id   Participant identifier for reservation.
+     *                                   When negative, it will be modified to the first non-existent participant id.
+     *
+     * @return True value if reservation was possible. False in other case.
+     */
+    static bool reserve_participant_id(
+            int32_t& participant_id);
+
     uint32_t get_id_for_prefix(
             uint32_t participant_id);
 
diff --git a/test/mock/rtps/RTPSDomainImpl/rtps/RTPSDomainImpl.hpp b/test/mock/rtps/RTPSDomainImpl/rtps/RTPSDomainImpl.hpp
index 55ee66304a8..75a47432abc 100644
--- a/test/mock/rtps/RTPSDomainImpl/rtps/RTPSDomainImpl.hpp
+++ b/test/mock/rtps/RTPSDomainImpl/rtps/RTPSDomainImpl.hpp
@@ -61,10 +61,11 @@ class RTPSDomainImpl
         return nullptr;
     }
 
-    static void create_participant_guid(
+    static bool create_participant_guid(
             int32_t& /*participant_id*/,
             GUID_t& /*guid*/)
     {
+        return true;
     }
 
     /**