diff --git a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
index 89c39652e2..db44fa9983 100644
--- a/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
+++ b/rclcpp/include/rclcpp/experimental/intra_process_manager.hpp
@@ -577,11 +577,14 @@ class IntraProcessManager
     auto server = get_matching_intra_process_action_server<ActionT>(ipc_action_client_id);
 
     if (server) {
+      {
+        std::unique_lock<std::shared_timed_mutex> lock(mutex_);
+        clients_uuid_to_id_[goal_id] = ipc_action_client_id;
+      }
+
       server->store_ipc_action_goal_request(
         ipc_action_client_id, std::move(goal_request));
 
-      std::unique_lock<std::shared_timed_mutex> lock(mutex_);
-      clients_uuid_to_id_[goal_id] = ipc_action_client_id;
       return true;
     }
     return false;