diff --git a/kernel/rcu/tree.c b/kernel/rcu/tree.c
index 293bbd9ac3f4..2c1c9759e278 100644
--- a/kernel/rcu/tree.c
+++ b/kernel/rcu/tree.c
@@ -160,6 +160,7 @@ static void rcu_report_qs_rnp(unsigned long mask, struct rcu_node *rnp,
 			      unsigned long gps, unsigned long flags);
 static void invoke_rcu_core(void);
 static void rcu_report_exp_rdp(struct rcu_data *rdp);
+static void rcu_report_qs_rdp(struct rcu_data *rdp);
 static void check_cb_ovld_locked(struct rcu_data *rdp, struct rcu_node *rnp);
 static bool rcu_rdp_is_offloaded(struct rcu_data *rdp);
 static bool rcu_rdp_cpu_online(struct rcu_data *rdp);
@@ -1983,6 +1984,17 @@ static noinline_for_stack bool rcu_gp_init(void)
 	if (IS_ENABLED(CONFIG_RCU_STRICT_GRACE_PERIOD))
 		on_each_cpu(rcu_strict_gp_boundary, NULL, 0);
 
+	/*
+	 * Immediately report QS for the GP kthread's CPU. The GP kthread
+	 * cannot be in an RCU read-side critical section while running
+	 * the FQS scan. This eliminates the need for a second FQS wait
+	 * when all CPUs are idle.
+	 */
+	preempt_disable();
+	rcu_qs();
+	rcu_report_qs_rdp(this_cpu_ptr(&rcu_data));
+	preempt_enable();
+
 	return true;
 }