diff --git a/platforms/posix/src/px4/common/tasks.cpp b/platforms/posix/src/px4/common/tasks.cpp
index dba1e3b7b1..373bc1911e 100644
--- a/platforms/posix/src/px4/common/tasks.cpp
+++ b/platforms/posix/src/px4/common/tasks.cpp
@@ -306,7 +306,6 @@ int px4_task_delete(px4_task_t id)
 
 	// If current thread then exit, otherwise cancel
 	if (pthread_self() == pid) {
-		pthread_join(pid, nullptr);
 		taskmap[id].isused = false;
 		pthread_mutex_unlock(&task_mutex);
 		pthread_exit(nullptr);