diff --git a/include/fastdds/rtps/builtin/discovery/participant/PDP.h b/include/fastdds/rtps/builtin/discovery/participant/PDP.h
index d30d5cbc0..b887b9a97 100644
--- a/include/fastdds/rtps/builtin/discovery/participant/PDP.h
+++ b/include/fastdds/rtps/builtin/discovery/participant/PDP.h
@@ -520,6 +520,10 @@ protected:
     //!Tell if object is enabled
     std::atomic<bool> enabled_ {false};
 
+    std::mutex removal_mtx_;
+    std::condition_variable removal_cv_;
+    GUID_t processing_participant_guid_;
+
     /**
      * Adds an entry to the collection of participant proxy information.
      * May use one of the entries present in the pool.
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
index 1c2259f89..c1c0b6df5 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
@@ -1154,6 +1154,13 @@ bool PDP::remove_remote_participant(
 
     //Remove it from our vector or RTPSParticipantProxies:
     this->mp_mutex->lock();
+
+    if (processing_participant_guid_ == partGUID)
+    {
+        std::unique_lock<std::mutex> lock (removal_mtx_);
+        removal_cv_.wait(lock);
+    }
+
     for (ResourceLimitedVector<ParticipantProxyData*>::iterator pit = participant_proxies_.begin();
             pit != participant_proxies_.end(); ++pit)
     {
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp
index d37ff73ca..423f30e66 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPListener.cpp
@@ -194,6 +194,7 @@ void PDPListener::process_alive_data(
         // Create a new one when not found
         old_data = parent_pdp_->createParticipantProxyData(new_data, writer_guid);
 
+        parent_pdp_->processing_participant_guid_ = old_data->m_guid;
         reader->getMutex().unlock();
         lock.unlock();
 
@@ -211,6 +212,9 @@ void PDPListener::process_alive_data(
             // readers anyways.
             parent_pdp_->assignRemoteEndpoints(old_data);
         }
+
+        parent_pdp_->processing_participant_guid_ = c_Guid_Unknown;
+        parent_pdp_->removal_cv_.notify_one();
     }
     else
     {