diff --git a/rclpy/src/rclpy/context.cpp b/rclpy/src/rclpy/context.cpp
index 2fa5146b6..079ab02cb 100644
--- a/rclpy/src/rclpy/context.cpp
+++ b/rclpy/src/rclpy/context.cpp
@@ -151,6 +151,9 @@ void
 Context::shutdown()
 {
   std::lock_guard<std::mutex> guard{g_contexts_mutex};
+  if (already_shutdown_) {
+    throw CONTEXT_ALREADY_SHUTDOWN("Context already shutdown.");
+  }
   auto iter = std::find(g_contexts.begin(), g_contexts.end(), rcl_context_.get());
   if (iter != g_contexts.end()) {
     g_contexts.erase(iter);
@@ -158,6 +161,7 @@ Context::shutdown()
     if (RCL_RET_OK != ret) {
       throw RCLError("failed to shutdown");
     }
+    already_shutdown_ = true;
   }
 }
 
diff --git a/rclpy/src/rclpy/context.hpp b/rclpy/src/rclpy/context.hpp
index cdeb14122..30259e3e4 100644
--- a/rclpy/src/rclpy/context.hpp
+++ b/rclpy/src/rclpy/context.hpp
@@ -101,6 +101,7 @@ class Context : public Destroyable, public std::enable_shared_from_this<Context>
 
 private:
   std::shared_ptr<rcl_context_t> rcl_context_;
+  bool already_shutdown_{false};
 };
 
 /// Define a pybind11 wrapper for an rclpy::Context
diff --git a/rclpy/src/rclpy/exceptions.hpp b/rclpy/src/rclpy/exceptions.hpp
index 521146fd0..9146b794d 100644
--- a/rclpy/src/rclpy/exceptions.hpp
+++ b/rclpy/src/rclpy/exceptions.hpp
@@ -80,6 +80,11 @@ class InvalidHandle : public std::runtime_error
   using std::runtime_error::runtime_error;
 };
 
+class CONTEXT_ALREADY_SHUTDOWN : public std::runtime_error
+{
+  using std::runtime_error::runtime_error;
+};
+
 }  // namespace rclpy
 
 #endif  // RCLPY__EXCEPTIONS_HPP_
diff --git a/rclpy/test/test_init_shutdown.py b/rclpy/test/test_init_shutdown.py
index ecce3862e..43a514448 100644
--- a/rclpy/test/test_init_shutdown.py
+++ b/rclpy/test/test_init_shutdown.py
@@ -74,6 +74,15 @@ def test_double_init():
         rclpy.shutdown(context=context)
 
 
+def test_double_shutdown():
+    context = rclpy.context.Context()
+    rclpy.init(context=context)
+    assert context.ok()
+    rclpy.shutdown(context=context)
+    with pytest.raises(RuntimeError):
+        rclpy.shutdown(context=context)
+
+
 def test_create_node_without_init():
     context = rclpy.context.Context()
     with pytest.raises(NotInitializedException):