diff --git a/include/nuttx/sched.h b/include/nuttx/sched.h
index 703ea64f5c..8eae2680bd 100644
--- a/include/nuttx/sched.h
+++ b/include/nuttx/sched.h
@@ -110,6 +110,7 @@
 #define GROUP_FLAG_NOCLDWAIT       (1 << 0)                      /* Bit 0: Do not retain child exit status */
 #define GROUP_FLAG_PRIVILEGED      (1 << 1)                      /* Bit 1: Group is privileged */
 #define GROUP_FLAG_DELETED         (1 << 2)                      /* Bit 2: Group has been deleted but not yet freed */
+#define GROUP_FLAG_EXITING         (1 << 3)                      /* Bit 3: Group exit is in progress */
                                                                  /* Bits 3-7: Available */
 
 /* Values for struct child_status_s ch_flags */
diff --git a/sched/group/group_killchildren.c b/sched/group/group_killchildren.c
index 4f35c6a38b..fa5a98d65c 100644
--- a/sched/group/group_killchildren.c
+++ b/sched/group/group_killchildren.c
@@ -132,6 +132,8 @@ int group_kill_children(FAR struct tcb_s *tcb)
 {
   int ret;
 
+  DEBUGASSERT(tcb->group);
+
 #ifdef CONFIG_SMP
   /* NOTE: sched_lock() is not enough for SMP
    * because tcb->group will be accessed from the child tasks
@@ -145,8 +147,14 @@ int group_kill_children(FAR struct tcb_s *tcb)
 
   sched_lock();
 #endif
+
+  /* Tell the children that this group has started exiting */
+
+  tcb->group->tg_flags |= GROUP_FLAG_EXITING;
+
   ret = group_foreachchild(tcb->group, group_kill_children_handler,
                            (FAR void *)((uintptr_t)tcb->pid));
+
 #ifdef CONFIG_SMP
   leave_critical_section(flags);
 #else
diff --git a/sched/task/task_cancelpt.c b/sched/task/task_cancelpt.c
index 0c8609f474..2a1ab912f8 100644
--- a/sched/task/task_cancelpt.c
+++ b/sched/task/task_cancelpt.c
@@ -323,6 +323,7 @@ bool check_cancellation_point(void)
 bool nxnotify_cancellation(FAR struct tcb_s *tcb)
 {
   irqstate_t flags;
+  bool ret = false;
 
   /* We need perform the following operations from within a critical section
    * because it can compete with interrupt level activity.
@@ -362,9 +363,11 @@ bool nxnotify_cancellation(FAR struct tcb_s *tcb)
 
   if ((tcb->flags & TCB_FLAG_CANCEL_DEFERRED) != 0)
     {
-      /* Then we cannot cancel the task asynchronously.
-       * Mark the cancellation as pending.
-       */
+      /* Then we cannot cancel the task asynchronously. */
+
+      ret = true;
+
+      /* Mark the cancellation as pending. */
 
       tcb->flags |= TCB_FLAG_CANCEL_PENDING;
 
@@ -405,11 +408,17 @@ bool nxnotify_cancellation(FAR struct tcb_s *tcb)
 #endif
         }
 
-      leave_critical_section(flags);
-      return true;
+#ifdef HAVE_GROUP_MEMBERS
+      else if (tcb->group && (tcb->group->tg_flags & GROUP_FLAG_EXITING))
+        {
+          /* Exit in progress, do asynchronous cancel instead */
+
+          ret = false;
+        }
+#endif
     }
 #endif
 
   leave_critical_section(flags);
-  return false;
+  return ret;
 }