diff --git a/rcl/include/rcl/logging.h b/rcl/include/rcl/logging.h
index 9175c6f95..0dd476950 100644
--- a/rcl/include/rcl/logging.h
+++ b/rcl/include/rcl/logging.h
@@ -49,7 +49,7 @@ extern "C"
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
-rcl_logging_configure(
+rcl_logging_init(
   const rcl_arguments_t * global_args,
   const rcl_allocator_t * allocator);
 
diff --git a/rcl/src/rcl/init.c b/rcl/src/rcl/init.c
index 38c85a5c4..14f005cb3 100644
--- a/rcl/src/rcl/init.c
+++ b/rcl/src/rcl/init.c
@@ -122,7 +122,7 @@ rcl_init(
     goto fail;
   }
 
-  ret = rcl_logging_configure(&context->global_arguments, &allocator);
+  ret = rcl_logging_init(&context->global_arguments, &allocator);
   if (RCL_RET_OK != ret) {
     fail_ret = ret;
     RCUTILS_LOG_ERROR_NAMED(
diff --git a/rcl/src/rcl/logging.c b/rcl/src/rcl/logging.c
index 96c625dcd..d2bb83419 100644
--- a/rcl/src/rcl/logging.c
+++ b/rcl/src/rcl/logging.c
@@ -31,6 +31,7 @@ extern "C"
 #include "rcl/macros.h"
 #include "rcutils/logging.h"
 #include "rcutils/time.h"
+#include "rcutils/stdatomic_helper.h"
 
 #define RCL_LOGGING_MAX_OUTPUT_FUNCS (4)
 
@@ -43,6 +44,8 @@ static bool g_rcl_logging_stdout_enabled = false;
 static bool g_rcl_logging_rosout_enabled = false;
 static bool g_rcl_logging_ext_lib_enabled = false;
 
+static atomic_uint_least64_t g_rcl_logging_init_count = ATOMIC_VAR_INIT(0);
+
 /**
  * An output function that sends to multiple output appenders.
  */
@@ -64,10 +67,13 @@ rcl_logging_ext_lib_output_handler(
   const char * format, va_list * args);
 
 rcl_ret_t
-rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t * allocator)
+rcl_logging_init(const rcl_arguments_t * global_args, const rcl_allocator_t * allocator)
 {
   RCL_CHECK_ARGUMENT_FOR_NULL(global_args, RCL_RET_INVALID_ARGUMENT);
   RCL_CHECK_ARGUMENT_FOR_NULL(allocator, RCL_RET_INVALID_ARGUMENT);
+  if (rcutils_atomic_fetch_add_uint64_t(&g_rcl_logging_init_count, 1)) {
+    return RCL_RET_OK;
+  }
   RCUTILS_LOGGING_AUTOINIT
     g_logging_allocator = *allocator;
   int default_level = global_args->impl->log_level;
@@ -107,6 +113,16 @@ rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t
 rcl_ret_t rcl_logging_fini()
 {
   rcl_ret_t status = RCL_RET_OK;
+
+  if (rcutils_atomic_load_uint64_t(&g_rcl_logging_init_count) > 0) {
+    uint64_t current_count = rcutils_atomic_fetch_add_uint64_t(&g_rcl_logging_init_count, -1);
+    if (current_count != 1) {
+      return RCL_RET_OK;
+    }
+  } else {
+    return RCL_RET_OK;
+  }
+
   rcutils_logging_set_output_handler(rcutils_logging_console_output_handler);
 
   if (g_rcl_logging_rosout_enabled) {