diff --git a/connectivity/FEATURE_BLE/source/generic/GapImpl.cpp b/connectivity/FEATURE_BLE/source/generic/GapImpl.cpp
index 25dba4e2f2..401bf554c5 100644
--- a/connectivity/FEATURE_BLE/source/generic/GapImpl.cpp
+++ b/connectivity/FEATURE_BLE/source/generic/GapImpl.cpp
@@ -646,7 +646,15 @@ ble_error_t Gap::rejectConnectionParametersUpdate(
 #if BLE_ROLE_CENTRAL
 ble_error_t Gap::cancelConnect()
 {
-    return _pal_gap.cancel_connection_creation();
+    if (!_initiating) {
+        return BLE_ERROR_NONE;
+    }
+
+    auto ret = _pal_gap.cancel_connection_creation();
+    if (ret) {
+        _initiating = false;
+    }
+    return ret;
 }
 #endif
 
@@ -1192,6 +1200,10 @@ void Gap::on_advertising_report(const GapAdvertisingReportEvent &e)
 
 void Gap::on_connection_complete(const GapConnectionCompleteEvent &e)
 {
+    if (e.role == connection_role_t::CENTRAL) {
+        _initiating = false;
+    }
+
     if (e.status != hci_error_code_t::SUCCESS) {
         if (_event_handler) {
             _event_handler->onConnectionComplete(
@@ -2332,6 +2344,10 @@ void Gap::on_enhanced_connection_complete(
         return;
     }
 
+    if (own_role == connection_role_t::CENTRAL) {
+        _initiating = false;
+    }
+
     _event_handler->onConnectionComplete(
         ConnectionCompleteEvent(
             (status == hci_error_code_t::SUCCESS) ? BLE_ERROR_NONE : BLE_ERROR_INTERNAL_STACK_FAILURE,
diff --git a/connectivity/FEATURE_BLE/source/generic/GapImpl.h b/connectivity/FEATURE_BLE/source/generic/GapImpl.h
index 40b9be6752..0d9ccab86b 100644
--- a/connectivity/FEATURE_BLE/source/generic/GapImpl.h
+++ b/connectivity/FEATURE_BLE/source/generic/GapImpl.h
@@ -586,6 +586,7 @@ private:
     mbed::LowPowerTimeout _scan_timeout;
     mbed::LowPowerTicker _address_rotation_ticker;
 
+    bool _initiating = false;
     template<size_t bit_size>
     struct BitArray {
         BitArray() : data()