diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt
index efc30bff62..85cad29f06 100644
--- a/rclcpp/test/rclcpp/CMakeLists.txt
+++ b/rclcpp/test/rclcpp/CMakeLists.txt
@@ -591,6 +591,14 @@ if(TARGET test_timer)
   target_link_libraries(test_timer ${PROJECT_NAME} mimick)
 endif()
 
+ament_add_gtest(test_reinitialized_timers test_reinitialized_timers.cpp
+  APPEND_LIBRARY_DIRS "${append_library_dirs}")
+if(TARGET test_reinitialized_timers)
+  ament_target_dependencies(test_reinitialized_timers
+    "rcl")
+  target_link_libraries(test_reinitialized_timers ${PROJECT_NAME} mimick)
+endif()
+
 ament_add_gtest(test_timers_manager test_timers_manager.cpp
   APPEND_LIBRARY_DIRS "${append_library_dirs}")
 if(TARGET test_timers_manager)
diff --git a/rclcpp/test/rclcpp/test_reinitialized_timers.cpp b/rclcpp/test/rclcpp/test_reinitialized_timers.cpp
new file mode 100644
index 0000000000..4f83b329ef
--- /dev/null
+++ b/rclcpp/test/rclcpp/test_reinitialized_timers.cpp
@@ -0,0 +1,107 @@
+// Copyright 2024 iRobot Corporation. All Rights Reserved.
+
+#include <gtest/gtest.h>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
+#include "rclcpp/experimental/executors/events_executor/simple_events_queue.hpp"
+
+using rclcpp::experimental::executors::EventsExecutor;
+
+class TimersTest
+: public testing::Test
+{
+public:
+    void SetUp() override
+    {
+        rclcpp::init(0, nullptr);
+    }
+
+    void TearDown() override
+    {
+        rclcpp::shutdown();
+    }
+};
+
+TEST_F(TimersTest, TimersWithSamePeriod)
+{
+    auto timers_period = std::chrono::milliseconds(50);
+    auto node = std::make_shared<rclcpp::Node>("test_node");
+    auto events_queue = std::make_unique<rclcpp::experimental::executors::SimpleEventsQueue>();
+    auto executor = std::make_unique<EventsExecutor>(std::move(events_queue), true, rclcpp::ExecutorOptions());
+
+    executor->add_node(node);
+
+    size_t count_1 = 0;
+    auto timer_1 = rclcpp::create_timer(
+        node,
+        node->get_clock(),
+        rclcpp::Duration(timers_period),
+        [&count_1]() {
+            count_1++;
+        });
+
+    size_t count_2 = 0;
+    auto timer_2 = rclcpp::create_timer(
+        node,
+        node->get_clock(),
+        rclcpp::Duration(timers_period),
+        [&count_2]() {
+            count_2++;
+        });
+
+    {
+        std::thread executor_thread([&executor](){
+            executor->spin();
+        });
+
+        while (count_2 < 10u) {
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        }
+        executor->cancel();
+        executor_thread.join();
+
+        EXPECT_GE(count_2, 10u);
+        EXPECT_LE(count_2 - count_1, 1u);
+    }
+
+    count_1 = 0;
+    timer_1 = rclcpp::create_timer(
+        node,
+        node->get_clock(),
+        rclcpp::Duration(timers_period),
+        [&count_1]() {
+            count_1++;
+        });
+
+    count_2 = 0;
+    timer_2 = rclcpp::create_timer(
+        node,
+        node->get_clock(),
+        rclcpp::Duration(timers_period),
+        [&count_2]() {
+            count_2++;
+        });
+
+    {
+        std::thread executor_thread([&executor](){
+            executor->spin();
+        });
+
+        while (count_2 < 10u) {
+            std::this_thread::sleep_for(std::chrono::milliseconds(10));
+        }
+        executor->cancel();
+        executor_thread.join();
+
+        EXPECT_GE(count_2, 10u);
+        EXPECT_LE(count_2 - count_1, 1u);
+    }
+}
+
+int main(int argc, char **argv)
+{
+    ::testing::InitGoogleTest(&argc, argv);
+    return RUN_ALL_TESTS();
+}