diff --git a/drivers/wireless/ieee802154/xbee/xbee.c b/drivers/wireless/ieee802154/xbee/xbee.c
index 6bbd4bb1618..e38812b2077 100644
--- a/drivers/wireless/ieee802154/xbee/xbee.c
+++ b/drivers/wireless/ieee802154/xbee/xbee.c
@@ -637,6 +637,7 @@ static void xbee_process_apiframes(FAR struct xbee_priv_s *priv,
                           frame->io_data[frame->io_offset] != 0x13)
                         {
                           wd_cancel(priv->assocwd);
+                          priv->associating = false;
 
                           primitive = ieee802154_primitive_allocate();
                           primitive->type = IEEE802154_PRIMITIVE_CONF_ASSOC;
@@ -724,6 +725,7 @@ static void xbee_process_apiframes(FAR struct xbee_priv_s *priv,
                   if ((priv->querycmd[0] == *command) &&
                       (priv->querycmd[1] == *(command + 1)))
                     {
+                      wd_cancel(priv->atquery_wd);
                       priv->querydone = true;
                       nxsem_post(&priv->atresp_sem);
                     }
diff --git a/drivers/wireless/ieee802154/xbee/xbee.h b/drivers/wireless/ieee802154/xbee/xbee.h
index 0c584f6b8dd..03545dbe315 100644
--- a/drivers/wireless/ieee802154/xbee/xbee.h
+++ b/drivers/wireless/ieee802154/xbee/xbee.h
@@ -167,6 +167,7 @@ struct xbee_priv_s
                                    * callback to registered receivers */
   WDOG_ID assocwd;                /* Association watchdog */
   struct work_s assocwork;        /* For polling for association status */
+  bool associating;               /* Are we currently associating */
   sem_t atquery_sem;              /* Only allow one AT query at a time */
   sem_t atresp_sem;               /* For signaling pending AT response received */
   char querycmd[2];               /* Stores the pending AT Query command */
diff --git a/drivers/wireless/ieee802154/xbee/xbee_mac.c b/drivers/wireless/ieee802154/xbee/xbee_mac.c
index c423a1968f7..00b58396150 100644
--- a/drivers/wireless/ieee802154/xbee/xbee_mac.c
+++ b/drivers/wireless/ieee802154/xbee/xbee_mac.c
@@ -146,9 +146,12 @@ static void xbee_assocworker(FAR void *arg)
 {
   FAR struct xbee_priv_s *priv = (FAR struct xbee_priv_s *)arg;
 
-  xbee_send_atquery(priv, "AI");
+  if (priv->associating)
+    {
+      xbee_send_atquery(priv, "AI");
 
-  (void)wd_start(priv->assocwd, XBEE_ASSOC_POLLDELAY, xbee_assoctimer, 1, (wdparm_t)arg);
+      (void)wd_start(priv->assocwd, XBEE_ASSOC_POLLDELAY, xbee_assoctimer, 1, (wdparm_t)arg);
+    }
 }
 
 /****************************************************************************
@@ -660,6 +663,8 @@ int xbee_req_associate(XBEEHANDLE xbee, FAR struct ieee802154_assoc_req_s *req)
 
   xbee_set_epassocflags(priv, XBEE_EPASSOCFLAGS_AUTOASSOC);
 
+  priv->associating = true;
+
   /* In order to track the association status, we must poll the device for
    * an update.
    */