diff --git a/include/nuttx/sched.h b/include/nuttx/sched.h
index 8f324402a7..fc196680fc 100644
--- a/include/nuttx/sched.h
+++ b/include/nuttx/sched.h
@@ -530,14 +530,6 @@ struct task_group_s
   FAR struct join_s *tg_jointail; /* Tail of a list of join data            */
 #endif
 
-  /* Thread local storage ***************************************************/
-
-#if CONFIG_TLS_NELEM > 0
-  tls_ndxset_t tg_tlsset;                   /* Set of TLS indexes allocated */
-
-  tls_dtor_t  tg_tlsdestr[CONFIG_TLS_NELEM];  /* List of TLS destructors    */
-#endif
-
   /* POSIX Signal Control Fields ********************************************/
 
   sq_queue_t tg_sigactionq;         /* List of actions for signals              */
diff --git a/include/nuttx/tls.h b/include/nuttx/tls.h
index d45230dd06..6950751568 100644
--- a/include/nuttx/tls.h
+++ b/include/nuttx/tls.h
@@ -118,6 +118,13 @@ struct task_info_s
   struct tls_info_s ta_tls;    /* Must be first field */
 #ifndef CONFIG_BUILD_KERNEL
   struct getopt_s   ta_getopt; /* Globals used by getopt() */
+#endif
+  /* Thread local storage ***************************************************/
+
+#if CONFIG_TLS_NELEM > 0
+  sem_t        ta_tlssem;
+  tls_ndxset_t ta_tlsset;                    /* Set of TLS index allocated  */
+  tls_dtor_t   ta_tlsdtor[CONFIG_TLS_NELEM]; /* List of TLS destructors     */
 #endif
 };
 
@@ -320,4 +327,20 @@ void tls_destruct(void);
 
 FAR struct task_info_s *task_get_info(void);
 
+/****************************************************************************
+ * Name: task_setup_info
+ *
+ * Description:
+ *   Setup task_info_s for task
+ *
+ * Input Parameters:
+ *   info - New created task_info_s
+ *
+ * Returned Value:
+ *   OK on success; ERROR on failure
+ *
+ ****************************************************************************/
+
+int task_setup_info(FAR struct task_info_s *info);
+
 #endif /* __INCLUDE_NUTTX_TLS_H */
diff --git a/include/sys/syscall_lookup.h b/include/sys/syscall_lookup.h
index a0e44d7dbd..03de33c0d2 100644
--- a/include/sys/syscall_lookup.h
+++ b/include/sys/syscall_lookup.h
@@ -294,14 +294,6 @@ SYSCALL_LOOKUP(telldir,                    1)
   SYSCALL_LOOKUP(shmdt,                    1)
 #endif
 
-#if CONFIG_TLS_NELEM > 0
-  SYSCALL_LOOKUP(tls_alloc,                0)
-  SYSCALL_LOOKUP(tls_free,                 1)
-  SYSCALL_LOOKUP(tls_get_set,              1)
-  SYSCALL_LOOKUP(tls_get_dtor,             1)
-  SYSCALL_LOOKUP(tls_set_dtor,             2)
-#endif
-
 /* The following are defined if pthreads are enabled */
 
 #ifndef CONFIG_DISABLE_PTHREAD
diff --git a/libs/libc/pthread/pthread_keycreate.c b/libs/libc/pthread/pthread_keycreate.c
index 798cca7d38..d162fbf8c0 100644
--- a/libs/libc/pthread/pthread_keycreate.c
+++ b/libs/libc/pthread/pthread_keycreate.c
@@ -89,7 +89,7 @@ int pthread_key_create(FAR pthread_key_t *key,
       return OK;
     }
 
-  return -tlsindex;
+  return ERROR;
 }
 
 #endif /* CONFIG_TLS_NELEM */
diff --git a/libs/libc/tls/Make.defs b/libs/libc/tls/Make.defs
index 67e830f71a..ab1da9069a 100644
--- a/libs/libc/tls/Make.defs
+++ b/libs/libc/tls/Make.defs
@@ -22,6 +22,9 @@ CSRCS += task_getinfo.c
 
 ifneq ($(CONFIG_TLS_NELEM),0)
 CSRCS += tls_setvalue.c tls_getvalue.c tls_destruct.c
+CSRCS += tls_getdtor.c tls_setdtor.c
+CSRCS += tls_alloc.c tls_free.c
+CSRCS += tls_getset.c
 endif
 
 ifneq ($(CONFIG_TLS_ALIGNED),y)
diff --git a/sched/group/group_tlsalloc.c b/libs/libc/tls/tls_alloc.c
similarity index 85%
rename from sched/group/group_tlsalloc.c
rename to libs/libc/tls/tls_alloc.c
index 5b09073abc..2630e7e415 100644
--- a/sched/group/group_tlsalloc.c
+++ b/libs/libc/tls/tls_alloc.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * sched/group/group_tlsalloc.c
+ * libs/libc/tls/tls_alloc.c
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -32,9 +32,6 @@
 #include <nuttx/spinlock.h>
 #include <nuttx/tls.h>
 
-#include "sched/sched.h"
-#include "group/group.h"
-
 #if CONFIG_TLS_NELEM > 0
 
 /****************************************************************************
@@ -52,39 +49,45 @@
  *
  * Returned Value:
  *   A TLS index that is unique for use within this task group.
+ *   If unsuccessful, an errno value will be returned and set to errno.
  *
  ****************************************************************************/
 
 int tls_alloc(void)
 {
-  FAR struct tcb_s *rtcb = this_task();
-  FAR struct task_group_s *group = rtcb->group;
-  irqstate_t flags;
+  FAR struct task_info_s *tinfo = task_get_info();
   int candidate;
   int ret = -EAGAIN;
 
-  DEBUGASSERT(group != NULL);
+  DEBUGASSERT(tinfo != NULL);
 
   /* Search for an unused index.  This is done in a critical section here to
    * avoid concurrent modification of the group TLS index set.
    */
 
-  flags = spin_lock_irqsave(NULL);
+  ret = _SEM_WAIT(&tinfo->ta_tlssem);
+
+  if (ERROR == ret)
+    {
+      ret = -get_errno();
+      goto errout_with_errno;
+    }
+
   for (candidate = 0; candidate < CONFIG_TLS_NELEM; candidate++)
     {
       /* Is this candidate index available? */
 
       tls_ndxset_t mask = (1 << candidate);
-      if ((group->tg_tlsset & mask) == 0)
+      if ((tinfo->ta_tlsset & mask) == 0)
         {
           /* Yes.. allocate the index and break out of the loop */
 
-          group->tg_tlsset |= mask;
+          tinfo->ta_tlsset |= mask;
           break;
         }
     }
 
-  spin_unlock_irqrestore(NULL, flags);
+  _SEM_POST(&tinfo->ta_tlssem);
 
   /* Check if found a valid TLS data index. */
 
@@ -95,6 +98,8 @@ int tls_alloc(void)
       ret = candidate;
     }
 
+errout_with_errno:
+
   return ret;
 }
 
diff --git a/sched/group/group_tlsfree.c b/libs/libc/tls/tls_free.c
similarity index 75%
rename from sched/group/group_tlsfree.c
rename to libs/libc/tls/tls_free.c
index c1eccaf25d..7455e08cb3 100644
--- a/sched/group/group_tlsfree.c
+++ b/libs/libc/tls/tls_free.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * sched/group/group_tlsfree.c
+ * libs/libc/tls/tls_free.c
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -31,9 +31,6 @@
 #include <nuttx/spinlock.h>
 #include <nuttx/tls.h>
 
-#include "sched/sched.h"
-#include "group/group.h"
-
 #if CONFIG_TLS_NELEM > 0
 
 /****************************************************************************
@@ -50,36 +47,40 @@
  *   tlsindex - The previously allocated TLS index to be freed
  *
  * Returned Value:
- *   OK is returned on success; a negated errno value will be returned on
- *   failure:
+ *   OK is returned on success; a negated errno value will be returned and
+ *   set to errno on failure:
  *
- *     -EINVAL - the index to be freed is out of range.
+ *     -EINVAL    - the index to be freed is out of range.
+ *     -EINTR     - the wait operation interrupted by signal
+ *     -ECANCELED - the thread was canceled during waiting
  *
  ****************************************************************************/
 
 int tls_free(int tlsindex)
 {
-  FAR struct tcb_s *rtcb = this_task();
-  FAR struct task_group_s *group = rtcb->group;
+  FAR struct task_info_s *tinfo = task_get_info();
   tls_ndxset_t mask;
-  irqstate_t flags;
   int ret = -EINVAL;
 
-  DEBUGASSERT((unsigned)tlsindex < CONFIG_TLS_NELEM && group != NULL);
+  DEBUGASSERT((unsigned)tlsindex < CONFIG_TLS_NELEM && tinfo != NULL);
   if ((unsigned)tlsindex < CONFIG_TLS_NELEM)
     {
-      /* This is done in a critical section here to avoid concurrent
+      /* This is done while holding a semaphore here to avoid concurrent
        * modification of the group TLS index set.
        */
 
       mask  = (1 << tlsindex);
-      flags = spin_lock_irqsave(NULL);
-
-      DEBUGASSERT((group->tg_tlsset & mask) != 0);
-      group->tg_tlsset &= ~mask;
-      spin_unlock_irqrestore(NULL, flags);
-
-      ret = OK;
+      ret = _SEM_WAIT(&tinfo->ta_tlssem);
+      if (OK == ret)
+        {
+          DEBUGASSERT((tinfo->ta_tlsset & mask) != 0);
+          tinfo->ta_tlsset &= ~mask;
+          _SEM_POST(&tinfo->ta_tlssem);
+        }
+      else
+        {
+          ret = -get_errno();
+        }
     }
 
   return ret;
diff --git a/sched/group/group_tlsgetdtor.c b/libs/libc/tls/tls_getdtor.c
similarity index 84%
rename from sched/group/group_tlsgetdtor.c
rename to libs/libc/tls/tls_getdtor.c
index c6e25f3f70..1e33b327d1 100644
--- a/sched/group/group_tlsgetdtor.c
+++ b/libs/libc/tls/tls_getdtor.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * sched/group/group_tlsgetdtor.c
+ * libs/libc/tls/tls_getdtor.c
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -32,9 +32,6 @@
 #include <nuttx/tls.h>
 #include <arch/tls.h>
 
-#include "sched/sched.h"
-#include "group/group.h"
-
 #if CONFIG_TLS_NELEM > 0
 
 /****************************************************************************
@@ -45,7 +42,7 @@
  * Name: tls_get_dtor
  *
  * Description:
- *   Get the TLS element destructor associated with the 'tlsindex' to 'destr'
+ *   Get the TLS element destructor associated with the 'tlsindex' to 'dtor'
  *
  * Input Parameters:
  *   tlsindex - Index of TLS data destructor to get
@@ -57,19 +54,15 @@
 
 tls_dtor_t tls_get_dtor(int tlsindex)
 {
-  FAR struct tcb_s *rtcb = this_task();
-  FAR struct task_group_s *group = rtcb->group;
-  irqstate_t flags;
-  tls_dtor_t destr;
+  FAR struct task_info_s *tinfo = task_get_info();
+  tls_dtor_t dtor;
 
-  DEBUGASSERT(group != NULL);
+  DEBUGASSERT(tinfo != NULL);
   DEBUGASSERT(tlsindex >= 0 && tlsindex < CONFIG_TLS_NELEM);
 
-  flags = spin_lock_irqsave(NULL);
-  destr = group->tg_tlsdestr[tlsindex];
-  spin_unlock_irqrestore(NULL, flags);
+  dtor = tinfo->ta_tlsdtor[tlsindex];
 
-  return destr;
+  return dtor;
 }
 
 #endif /* CONFIG_TLS_NELEM > 0 */
diff --git a/sched/group/group_tlsgetset.c b/libs/libc/tls/tls_getset.c
similarity index 85%
rename from sched/group/group_tlsgetset.c
rename to libs/libc/tls/tls_getset.c
index a3405c44a5..cb3c9587a9 100644
--- a/sched/group/group_tlsgetset.c
+++ b/libs/libc/tls/tls_getset.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * sched/group/group_tlsgetset.c
+ * libs/libc/tls/tls_getset.c
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -32,9 +32,6 @@
 #include <nuttx/tls.h>
 #include <arch/tls.h>
 
-#include "sched/sched.h"
-#include "group/group.h"
-
 #if CONFIG_TLS_NELEM > 0
 
 /****************************************************************************
@@ -56,16 +53,12 @@
 
 tls_ndxset_t tls_get_set(void)
 {
-  FAR struct tcb_s *rtcb = this_task();
-  FAR struct task_group_s *group = rtcb->group;
-  irqstate_t flags;
+  FAR struct task_info_s *tinfo = task_get_info();
   tls_ndxset_t tlsset;
 
-  DEBUGASSERT(group != NULL);
+  DEBUGASSERT(tinfo != NULL);
 
-  flags = spin_lock_irqsave(NULL);
-  tlsset = group->tg_tlsset;
-  spin_unlock_irqrestore(NULL, flags);
+  tlsset = tinfo->ta_tlsset;
 
   return tlsset;
 }
diff --git a/sched/group/group_tlssetdtor.c b/libs/libc/tls/tls_setdtor.c
similarity index 82%
rename from sched/group/group_tlssetdtor.c
rename to libs/libc/tls/tls_setdtor.c
index 040ff65822..4ed813b393 100644
--- a/sched/group/group_tlssetdtor.c
+++ b/libs/libc/tls/tls_setdtor.c
@@ -1,5 +1,5 @@
 /****************************************************************************
- * sched/group/group_tlssetdtor.c
+ * libs/libc/tls/tls_setdtor.c
  *
  * Licensed to the Apache Software Foundation (ASF) under one or more
  * contributor license agreements.  See the NOTICE file distributed with
@@ -32,9 +32,6 @@
 #include <nuttx/tls.h>
 #include <arch/tls.h>
 
-#include "sched/sched.h"
-#include "group/group.h"
-
 #if CONFIG_TLS_NELEM > 0
 
 /****************************************************************************
@@ -45,11 +42,11 @@
  * Name: tls_set_dtor
  *
  * Description:
- *   Set the TLS element destructor associated with the 'tlsindex' to 'destr'
+ *   Set the TLS element destructor associated with the 'tlsindex' to 'dtor'
  *
  * Input Parameters:
  *   tlsindex - Index of TLS data destructor to set
- *   destr    - The destr of TLS data element
+ *   dtor    - The dtor of TLS data element
  *
  * Returned Value:
  *   Zero is returned on success, a negated errno value is return on
@@ -59,18 +56,14 @@
  *
  ****************************************************************************/
 
-int tls_set_dtor(int tlsindex, tls_dtor_t destr)
+int tls_set_dtor(int tlsindex, tls_dtor_t dtor)
 {
-  FAR struct tcb_s *rtcb = this_task();
-  FAR struct task_group_s *group = rtcb->group;
-  irqstate_t flags;
+  FAR struct task_info_s *tinfo = task_get_info();
 
-  DEBUGASSERT(group != NULL);
+  DEBUGASSERT(tinfo != NULL);
   DEBUGASSERT(tlsindex >= 0 && tlsindex < CONFIG_TLS_NELEM);
 
-  flags = spin_lock_irqsave(NULL);
-  group->tg_tlsdestr[tlsindex] = destr;
-  spin_unlock_irqrestore(NULL, flags);
+  tinfo->ta_tlsdtor[tlsindex] = dtor;
 
   return OK;
 }
diff --git a/sched/group/Make.defs b/sched/group/Make.defs
index 35eee89702..b0a2cf7e13 100644
--- a/sched/group/Make.defs
+++ b/sched/group/Make.defs
@@ -53,11 +53,6 @@ ifneq ($(CONFIG_BUILD_FLAT),y)
 CSRCS += group_malloc.c group_zalloc.c group_free.c
 endif
 
-ifneq ($(CONFIG_TLS_NELEM),0)
-CSRCS += group_tlsalloc.c group_tlsfree.c
-CSRCS += group_tlsgetset.c group_tlsgetdtor.c group_tlssetdtor.c
-endif
-
 # Include group build support
 
 DEPPATH += --dep-path group
diff --git a/sched/task/task_init.c b/sched/task/task_init.c
index dfd7c7f1dc..fd774ec1f4 100644
--- a/sched/task/task_init.c
+++ b/sched/task/task_init.c
@@ -142,6 +142,14 @@ int nxtask_init(FAR struct task_tcb_s *tcb, const char *name, int priority,
 
   DEBUGASSERT(info == tcb->cmn.stack_alloc_ptr);
 
+  ret = task_setup_info(info);
+
+  if (ret < OK)
+    {
+      ret = -EINVAL;
+      goto errout_with_group;
+    }
+
   /* Initialize the task control block */
 
   ret = nxtask_setup_scheduler(tcb, priority, nxtask_start,
diff --git a/sched/task/task_setup.c b/sched/task/task_setup.c
index 73f681512a..830754614e 100644
--- a/sched/task/task_setup.c
+++ b/sched/task/task_setup.c
@@ -35,6 +35,7 @@
 #include <nuttx/arch.h>
 #include <nuttx/sched.h>
 #include <nuttx/signal.h>
+#include <nuttx/tls.h>
 
 #include "sched/sched.h"
 #include "pthread/pthread.h"
@@ -721,3 +722,28 @@ int nxtask_setup_arguments(FAR struct task_tcb_s *tcb, FAR const char *name,
 
   return nxtask_setup_stackargs(tcb, argv);
 }
+
+/****************************************************************************
+ * Name: task_setup_info
+ *
+ * Description:
+ *   Setup task_info_s for task
+ *
+ * Input Parameters:
+ *   info - New created task_info_s
+ *
+ * Returned Value:
+ *   OK on success; ERROR on failure
+ *
+ ****************************************************************************/
+
+int task_setup_info(FAR struct task_info_s *info)
+{
+  int ret = OK;
+
+#if CONFIG_TLS_NELEM > 0
+  ret = _SEM_INIT(&info->ta_tlssem, 0, 1);
+#endif
+
+  return ret;
+}
diff --git a/syscall/syscall.csv b/syscall/syscall.csv
index 523806cf3c..0f96f4ed95 100644
--- a/syscall/syscall.csv
+++ b/syscall/syscall.csv
@@ -177,11 +177,6 @@
 "timer_getoverrun","time.h","!defined(CONFIG_DISABLE_POSIX_TIMERS)","int","timer_t"
 "timer_gettime","time.h","!defined(CONFIG_DISABLE_POSIX_TIMERS)","int","timer_t","FAR struct itimerspec *"
 "timer_settime","time.h","!defined(CONFIG_DISABLE_POSIX_TIMERS)","int","timer_t","int","FAR const struct itimerspec *","FAR struct itimerspec *"
-"tls_alloc","nuttx/tls.h","CONFIG_TLS_NELEM > 0","int"
-"tls_free","nuttx/tls.h","CONFIG_TLS_NELEM > 0","int","int"
-"tls_get_dtor","nuttx/tls.h","CONFIG_TLS_NELEM > 0","tls_dtor_t","int"
-"tls_get_set","nuttx/tls.h","CONFIG_TLS_NELEM > 0","tls_ndxset_t"
-"tls_set_dtor","nuttx/tls.h","CONFIG_TLS_NELEM > 0","int","int","tls_dtor_t"
 "umount2","sys/mount.h","!defined(CONFIG_DISABLE_MOUNTPOINT)","int","FAR const char *","unsigned int"
 "unlink","unistd.h","!defined(CONFIG_DISABLE_MOUNTPOINT)","int","FAR const char *"
 "unsetenv","stdlib.h","!defined(CONFIG_DISABLE_ENVIRON)","int","FAR const char *"