diff --git a/src/cluster_legacy.c b/src/cluster_legacy.c
index 035b9fc876..02b9edf35c 100644
--- a/src/cluster_legacy.c
+++ b/src/cluster_legacy.c
@@ -5259,6 +5259,13 @@ void clusterSetPrimary(clusterNode *n, int closeSlots) {
     replicationSetPrimary(n->ip, getNodeDefaultReplicationPort(n));
     removeAllNotOwnedShardChannelSubscriptions();
     resetManualFailover();
+
+    if (server.cluster->failover_auth_time) {
+        /* Since we have changed to a new primary node, the previously set
+         * failover_auth_time should no longer be used, whether it is in
+         * progress or timed out. */
+        server.cluster->failover_auth_time = 0;
+    }
 }
 
 /* -----------------------------------------------------------------------------
diff --git a/tests/unit/cluster/failover2.tcl b/tests/unit/cluster/failover2.tcl
new file mode 100644
index 0000000000..8098f96221
--- /dev/null
+++ b/tests/unit/cluster/failover2.tcl
@@ -0,0 +1,62 @@
+# Check the basic monitoring and failover capabilities.
+
+start_cluster 3 6 {tags {external:skip cluster} overrides {cluster-ping-interval 1000 cluster-node-timeout 15000}} {
+
+test "Cluster is up" {
+    wait_for_cluster_state ok
+}
+
+test "Cluster is writable" {
+    cluster_write_test [srv 0 port]
+}
+
+set paused_pid [srv 0 pid]
+test "Killing one primary node" {
+    pause_process $paused_pid
+}
+
+test "Wait for failover" {
+    wait_for_condition 1000 50 {
+        [s -3 role] == "master" || [s -6 role] == "master"
+    } else {
+        fail "No failover detected"
+    }
+}
+
+test "Killing the new primary node" {
+    if {[s -3 role] == "master"} {
+        set replica_to_be_primary -6
+        set paused_pid2 [srv -3 pid]
+    } else {
+        set replica_to_be_primary -3
+        set paused_pid2 [srv -6 pid]
+    }
+    pause_process $paused_pid2
+}
+
+test "Cluster should eventually be up again" {
+    for {set j 0} {$j < [llength $::servers]} {incr j} {
+        if {[process_is_paused $paused_pid]} continue
+        if {[process_is_paused $paused_pid2]} continue
+        wait_for_condition 1000 50 {
+            [CI $j cluster_state] eq "ok"
+        } else {
+            fail "Cluster node $j cluster_state:[CI $j cluster_state]"
+        }
+    }
+}
+
+test "wait new failover" {
+    wait_for_condition 1000 100 {
+        [s $replica_to_be_primary role] == "master"
+    } else {
+        fail "No failover detected"
+    }
+}
+
+test "Restarting the previously killed primary nodes" {
+    resume_process $paused_pid
+    resume_process $paused_pid2
+}
+
+} ;# start_cluster