diff --git a/gnss/aidl/default/GnssNavigationMessageInterface.cpp b/gnss/aidl/default/GnssNavigationMessageInterface.cpp
index 4bc859d..75b9624 100644
--- a/gnss/aidl/default/GnssNavigationMessageInterface.cpp
+++ b/gnss/aidl/default/GnssNavigationMessageInterface.cpp
@@ -32,7 +32,7 @@
 GnssNavigationMessageInterface::GnssNavigationMessageInterface() : mMinIntervalMillis(1000) {}
 
 GnssNavigationMessageInterface::~GnssNavigationMessageInterface() {
-    stop();
+    waitForStoppingThreads();
 }
 
 ndk::ScopedAStatus GnssNavigationMessageInterface::setCallback(
@@ -46,7 +46,9 @@
 
 ndk::ScopedAStatus GnssNavigationMessageInterface::close() {
     ALOGD("close");
-    stop();
+    if (mIsActive) {
+        stop();
+    }
     std::unique_lock<std::mutex> lock(mMutex);
     sCallback = nullptr;
     return ndk::ScopedAStatus::ok();
@@ -54,9 +56,20 @@
 
 void GnssNavigationMessageInterface::start() {
     ALOGD("start");
+
+    if (mIsActive) {
+        ALOGD("restarting since nav msg has started");
+        stop();
+    }
+    // Wait for stopping previous thread.
+    waitForStoppingThreads();
+
     mIsActive = true;
     mThread = std::thread([this]() {
-        while (mIsActive == true) {
+        do {
+            if (!mIsActive) {
+                break;
+            }
             GnssNavigationMessage message = {
                     .svid = 19,
                     .type = GnssNavigationMessageType::GPS_L1CA,
@@ -66,15 +79,18 @@
                     .data = std::vector<uint8_t>(40, 0xF9),
             };
             this->reportMessage(message);
-            std::this_thread::sleep_for(std::chrono::milliseconds(mMinIntervalMillis));
-        }
+        } while (mIsActive &&
+                 mThreadBlocker.wait_for(std::chrono::milliseconds(mMinIntervalMillis)));
     });
-    mThread.detach();
 }
 
 void GnssNavigationMessageInterface::stop() {
     ALOGD("stop");
     mIsActive = false;
+    mThreadBlocker.notify();
+    if (mThread.joinable()) {
+        mFutures.push_back(std::async(std::launch::async, [this] { mThread.join(); }));
+    }
 }
 
 void GnssNavigationMessageInterface::reportMessage(const GnssNavigationMessage& message) {
@@ -91,4 +107,13 @@
     callbackCopy->gnssNavigationMessageCb(message);
 }
 
+void GnssNavigationMessageInterface::waitForStoppingThreads() {
+    for (auto& future : mFutures) {
+        ALOGD("Stopping previous thread.");
+        future.wait();
+        ALOGD("Done stopping thread.");
+    }
+    mFutures.clear();
+}
+
 }  // namespace aidl::android::hardware::gnss