diff --git a/internal/balancergroup/balancergroup.go b/internal/balancergroup/balancergroup.go
index 9776158dd986..45a15af10935 100644
--- a/internal/balancergroup/balancergroup.go
+++ b/internal/balancergroup/balancergroup.go
@@ -115,6 +115,7 @@ func (sbc *subBalancerWrapper) exitIdle() {
 			sc.Connect()
 		}
 	}
+	// sbc.group.connect(sbc)
 }
 
 func (sbc *subBalancerWrapper) updateSubConnState(sc balancer.SubConn, state balancer.SubConnState) {
@@ -383,6 +384,17 @@ func (bg *BalancerGroup) cleanupSubConns(config *subBalancerWrapper) {
 	bg.incomingMu.Unlock()
 }
 
+// connect attempts to connect to all subConns belonging to sb.
+func (bg *BalancerGroup) connect(sb *subBalancerWrapper) {
+	bg.incomingMu.Lock()
+	for sc, b := range bg.scToSubBalancer {
+		if b == sb {
+			sc.Connect()
+		}
+	}
+	bg.incomingMu.Unlock()
+}
+
 // Following are actions from the parent grpc.ClientConn, forward to sub-balancers.
 
 // UpdateSubConnState handles the state for the subconn. It finds the
diff --git a/internal/balancergroup/balancergroup_test.go b/internal/balancergroup/balancergroup_test.go
index 4942f8a7da87..32d271a8469c 100644
--- a/internal/balancergroup/balancergroup_test.go
+++ b/internal/balancergroup/balancergroup_test.go
@@ -18,6 +18,7 @@ package balancergroup
 
 import (
 	"fmt"
+	"sync"
 	"testing"
 	"time"
 
@@ -535,3 +536,104 @@ func (s) TestBalancerExitIdleOne(t *testing.T) {
 	case <-exitIdleCh:
 	}
 }
+
+type nonExitIdlerBalancerBuilder struct {
+	name string
+}
+
+func (bb *nonExitIdlerBalancerBuilder) Name() string {
+	return bb.name
+}
+
+func (bb *nonExitIdlerBalancerBuilder) Build(cc balancer.ClientConn, opts balancer.BuildOptions) balancer.Balancer {
+	rr := balancer.Get(roundrobin.Name)
+	return &nonExitIdlerBalancer{rrBalancer: rr.Build(cc, opts)}
+}
+
+type nonExitIdlerBalancer struct {
+	rrBalancer balancer.Balancer
+}
+
+func (b *nonExitIdlerBalancer) UpdateClientConnState(state balancer.ClientConnState) error {
+	err := b.rrBalancer.UpdateClientConnState(state)
+	fmt.Println("error from pickfirst balancer is:", err)
+	return err
+}
+
+func (b *nonExitIdlerBalancer) ResolverError(err error) {
+	b.rrBalancer.ResolverError(err)
+}
+
+func (b *nonExitIdlerBalancer) UpdateSubConnState(sc balancer.SubConn, state balancer.SubConnState) {
+	b.rrBalancer.UpdateSubConnState(sc, state)
+}
+
+func (b *nonExitIdlerBalancer) Close() {
+	b.rrBalancer.Close()
+}
+
+func (s) TestBalancerExitIdleRace(t *testing.T) {
+	bBuilder := &nonExitIdlerBalancerBuilder{name: t.Name()}
+	balancer.Register(bBuilder)
+
+	// Create a balancer group with a weighted target state aggregator.
+	cc := testutils.NewTestClientConn(t)
+	gator := weightedaggregator.New(cc, nil, testutils.NewTestWRR)
+	gator.Start()
+	bg := New(cc, balancer.BuildOptions{}, gator, nil)
+	defer func() {
+		gator.Stop()
+		bg.Close()
+	}()
+
+	// Add a balancer which does not implement the ExitIdler interface to the
+	// group, and add backends to the balancer.
+	gator.Add(testBalancerIDs[0], 1)
+	bg.Add(testBalancerIDs[0], bBuilder)
+	bg.UpdateClientConnState(testBalancerIDs[0], balancer.ClientConnState{ResolverState: resolver.State{Addresses: testBackendAddrs[0:2]}})
+	bg.Start()
+
+	// Move both backends to READY.
+	addrToSC := make(map[resolver.Address]balancer.SubConn)
+	for i := 0; i < 2; i++ {
+		addrs := <-cc.NewSubConnAddrsCh
+		sc := <-cc.NewSubConnCh
+		addrToSC[addrs[0]] = sc
+		bg.UpdateSubConnState(sc, balancer.SubConnState{ConnectivityState: connectivity.Connecting})
+		bg.UpdateSubConnState(sc, balancer.SubConnState{ConnectivityState: connectivity.Ready})
+	}
+
+	// Test roundrobin on the last picker.
+	p := <-cc.NewPickerCh
+	want := []balancer.SubConn{addrToSC[testBackendAddrs[0]], addrToSC[testBackendAddrs[1]]}
+	if err := testutils.IsRoundRobin(want, subConnFromPicker(p)); err != nil {
+		t.Fatalf("want %v, got %v", want, err)
+	}
+
+	var wg sync.WaitGroup
+	wg.Add(2)
+	startCh := make(chan struct{}, 1)
+	go func() {
+		defer wg.Done()
+
+		<-startCh
+		for i := 0; i < 100; i++ {
+			for j := 0; j < 2; j++ {
+				bg.UpdateSubConnState(addrToSC[testBackendAddrs[j]], balancer.SubConnState{ConnectivityState: connectivity.Idle})
+			}
+			time.Sleep(10 * time.Millisecond)
+		}
+	}()
+
+	go func() {
+		defer wg.Done()
+
+		close(startCh)
+		for i := 0; i < 100; i++ {
+			bg.ExitIdle()
+			time.Sleep(10 * time.Millisecond)
+		}
+	}()
+
+	wg.Wait()
+}