diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
index 51f84b33..f2f4256f 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.cpp
@@ -32,6 +32,9 @@
 
 #include "attachment_helpers.hpp"
 #include "rmw_data_types.hpp"
+#include "zenoh_config.hpp"
+#include "zenoh_router_check.hpp"
+
 
 ///=============================================================================
 namespace
@@ -60,6 +63,65 @@ size_t rmw_context_impl_s::get_next_entity_id()
   return next_entity_id_++;
 }
 
+///=============================================================================
+void rmw_context_impl_s::async_check_router()
+{
+  const std::optional<uint64_t> configured_connection_attempts =
+    rmw_zenoh_cpp::zenoh_router_check_attempts();
+  if (configured_connection_attempts.has_value()) {
+    router_check_thread_ = std::thread(
+      [this](std::optional<uint64_t> configured_connection_attempts, z_session_t session)
+      {
+        uint64_t connection_attempts = 0;
+        rmw_ret_t ret = RMW_RET_TIMEOUT;
+        // Retry until the connection is successful.
+        while (ret != RMW_RET_OK && connection_attempts < configured_connection_attempts.value()) {
+          if ((ret = rmw_zenoh_cpp::zenoh_router_check(session)) != RMW_RET_OK) {
+            ++connection_attempts;
+          }
+          std::this_thread::sleep_for(std::chrono::seconds(1));
+        }
+        if (ret != RMW_RET_OK) {
+          RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
+            "Unable to connect to a Zenoh router after %zu retries.",
+            configured_connection_attempts.value());
+          // Return without setting router_is_available_ to true.
+          return;
+        }
+        // The router check has succeeded so we set router_is_available_ to true.
+        std::lock_guard<std::mutex> lock(router_check_mutex_);
+        router_is_available_ = true;
+        router_check_cv_.notify_all();
+      },
+      configured_connection_attempts,
+      z_loan(session)
+    );
+  }
+  else {
+    // If we skip the router check, directly set available_ to true.
+    std::lock_guard<std::mutex> lock(router_check_mutex_);
+    router_is_available_ = true;
+  }
+}
+
+///=============================================================================
+bool rmw_context_impl_s::wait_for_router()
+{
+  // Wait until the cv is notified  or router check fails.
+  std::unique_lock<std::mutex> lock(router_check_mutex_);
+  router_check_cv_.wait(lock, [this]{ return router_is_available_ == true;});
+  return router_is_available_;
+}
+
+///=============================================================================
+rmw_context_impl_s::~rmw_context_impl_s()
+{
+  if (router_check_thread_.joinable()) {
+    router_check_thread_.join();
+  }
+}
+
+
 namespace rmw_zenoh_cpp
 {
 ///=============================================================================
diff --git a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
index 60e4bd01..3a0475e1 100644
--- a/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
+++ b/rmw_zenoh_cpp/src/detail/rmw_data_types.hpp
@@ -24,6 +24,7 @@
 #include <optional>
 #include <string>
 #include <unordered_map>
+#include <thread>
 #include <utility>
 #include <variant>
 #include <vector>
@@ -69,9 +70,23 @@ class rmw_context_impl_s final
 
   size_t get_next_entity_id();
 
+  // Asynchronously check if a router is available in the network.
+  // Use wait_for_router() to wait until a router is discovered.
+  void async_check_router();
+
+  // Blocking call that will return false if the check for router failed.
+  bool wait_for_router();
+
+  ~rmw_context_impl_s();
+
 private:
   // A counter to assign a local id for every entity created in this session.
   size_t next_entity_id_{0};
+  mutable std::mutex router_check_mutex_;
+  std::thread router_check_thread_;
+  bool router_is_available_{false};
+  std::condition_variable router_check_cv_;
+  rmw_ret_t router_check_status_{RMW_RET_TIMEOUT};
 };
 
 namespace rmw_zenoh_cpp
diff --git a/rmw_zenoh_cpp/src/rmw_init.cpp b/rmw_zenoh_cpp/src/rmw_init.cpp
index 2e0d08c3..0c712325 100644
--- a/rmw_zenoh_cpp/src/rmw_init.cpp
+++ b/rmw_zenoh_cpp/src/rmw_init.cpp
@@ -23,7 +23,6 @@
 #include "detail/liveliness_utils.hpp"
 #include "detail/rmw_data_types.hpp"
 #include "detail/zenoh_config.hpp"
-#include "detail/zenoh_router_check.hpp"
 
 #include "rcutils/env.h"
 #include "detail/logging_macros.hpp"
@@ -201,26 +200,8 @@ rmw_init(const rmw_init_options_t * options, rmw_context_t * context)
   z_id_t zid = z_info_zid(z_loan(context->impl->session));
   context->impl->graph_cache = std::make_unique<rmw_zenoh_cpp::GraphCache>(zid);
 
-  // Verify if the zenoh router is running if configured.
-  const std::optional<uint64_t> configured_connection_attempts =
-    rmw_zenoh_cpp::zenoh_router_check_attempts();
-  if (configured_connection_attempts.has_value()) {
-    ret = RMW_RET_ERROR;
-    uint64_t connection_attempts = 0;
-    // Retry until the connection is successful.
-    while (ret != RMW_RET_OK && connection_attempts < configured_connection_attempts.value()) {
-      if ((ret = rmw_zenoh_cpp::zenoh_router_check(z_loan(context->impl->session))) != RMW_RET_OK) {
-        ++connection_attempts;
-      }
-      std::this_thread::sleep_for(std::chrono::seconds(1));
-    }
-    if (ret != RMW_RET_OK) {
-      RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
-        "Unable to connect to a Zenoh router after %zu retries.",
-        configured_connection_attempts.value());
-      return ret;
-    }
-  }
+  // Check if a zenoh router is available.
+  context->impl->async_check_router();
 
   // Initialize the shm manager if shared_memory is enabled in the config.
   if (shm_enabled._cstr != nullptr &&
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index 4b0cb076..c1740198 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
@@ -219,6 +219,11 @@ rmw_create_node(
     return nullptr;
   }
 
+  if (!context->impl->wait_for_router()){
+    // Error handled.
+    return nullptr;
+  }
+
   int validation_result = RMW_NODE_NAME_VALID;
   rmw_ret_t ret = rmw_validate_node_name(name, &validation_result, nullptr);
   if (RMW_RET_OK != ret) {
@@ -1328,7 +1333,6 @@ rmw_create_subscription(
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
   }
-
   rcutils_allocator_t * allocator = &node->context->options.allocator;
 
   // Create the rmw_subscription.
@@ -2078,6 +2082,7 @@ rmw_create_client(
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
   }
+
   RMW_CHECK_ARGUMENT_FOR_NULL(node->data, nullptr);
   const rmw_zenoh_cpp::rmw_node_data_t * node_data =
     static_cast<rmw_zenoh_cpp::rmw_node_data_t *>(node->data);