diff --git a/rclpy/rclpy/executors.py b/rclpy/rclpy/executors.py
index 4ed931276..7b9c78548 100644
--- a/rclpy/rclpy/executors.py
+++ b/rclpy/rclpy/executors.py
@@ -321,14 +321,24 @@ def spin_until_future_complete(
         future.add_done_callback(lambda x: self.wake())
 
         if timeout_sec is None or timeout_sec < 0:
-            while self._context.ok() and not future.done() and not self._is_shutdown:
+            while (
+                self._context.ok() and
+                not future.done() and
+                not future.cancelled()
+                and not self._is_shutdown
+            ):
                 self._spin_once_until_future_complete(future, timeout_sec)
         else:
             start = time.monotonic()
             end = start + timeout_sec
             timeout_left = TimeoutObject(timeout_sec)
 
-            while self._context.ok() and not future.done() and not self._is_shutdown:
+            while (
+                self._context.ok() and
+                not future.done() and
+                not future.cancelled()
+                and not self._is_shutdown
+            ):
                 self._spin_once_until_future_complete(future, timeout_left)
                 now = time.monotonic()
 
@@ -610,6 +620,8 @@ def _wait_for_ready_callbacks(
                 with self._tasks_lock:
                     # Get rid of any tasks that are done
                     self._tasks = list(filter(lambda t_e_n: not t_e_n[0].done(), self._tasks))
+                    # Get rid of any tasks that are cancelled
+                    self._tasks = list(filter(lambda t_e_n: not t_e_n[0].cancelled(), self._tasks))
 
             # Gather entities that can be waited on
             subscriptions: List[Subscription] = []
diff --git a/rclpy/rclpy/task.py b/rclpy/rclpy/task.py
index 81a56ab5b..c75d3395e 100644
--- a/rclpy/rclpy/task.py
+++ b/rclpy/rclpy/task.py
@@ -61,7 +61,7 @@ def __del__(self) -> None:
 
     def __await__(self) -> Generator[None, None, Optional[T]]:
         # Yield if the task is not finished
-        while not self._done:
+        while not self._done and not self._cancelled:
             yield
         return self.result()
 
@@ -239,7 +239,12 @@ def __call__(self) -> None:
 
         The return value of the handler is stored as the task result.
         """
-        if self._done or self._executing or not self._task_lock.acquire(blocking=False):
+        if (
+            self._done or
+            self._cancelled or
+            self._executing or
+            not self._task_lock.acquire(blocking=False)
+        ):
             return
         try:
             if self._done:
diff --git a/rclpy/test/test_executor.py b/rclpy/test/test_executor.py
index 7b7027486..e69e4ed30 100644
--- a/rclpy/test/test_executor.py
+++ b/rclpy/test/test_executor.py
@@ -273,6 +273,27 @@ async def coroutine():
         self.assertTrue(future.done())
         self.assertEqual('Sentinel Result', future.result())
 
+    def test_create_task_coroutine_cancel(self) -> None:
+        self.assertIsNotNone(self.node.handle)
+        executor = SingleThreadedExecutor(context=self.context)
+        executor.add_node(self.node)
+
+        async def coroutine():
+            await asyncio.sleep(1)
+            return 'Sentinel Result'
+
+        future = executor.create_task(coroutine)
+        self.assertFalse(future.done())
+        self.assertFalse(future.cancelled())
+
+        future.cancel()
+        self.assertTrue(future.cancelled())
+
+        executor.spin_until_future_complete(future)
+        self.assertFalse(future.done())
+        self.assertTrue(future.cancelled())
+        self.assertEqual(None, future.result())
+
     def test_create_task_normal_function(self) -> None:
         self.assertIsNotNone(self.node.handle)
         executor = SingleThreadedExecutor(context=self.context)