diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index f9b9f3c..050b500 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -8,7 +8,7 @@
 endif()
 
 # list of all the tests in each directory
-set(tests test_io test_fd_comm test_init_destroy_client test_init_destroy_server test_client_thread)
+set(tests test_io test_fd_comm test_init_destroy_client test_init_destroy_server test_client_thread test_thread_messages)
 set(client_tests test_client test_client_messages)
 
 # add -Wl,--wrap flags
diff --git a/tests/data/modules/notif1.yang b/tests/data/modules/notif1.yang
new file mode 100644
index 0000000..69cdd3c
--- /dev/null
+++ b/tests/data/modules/notif1.yang
@@ -0,0 +1,10 @@
+module notif1 {
+  namespace "n1";
+  prefix "n1";
+
+  notification n1 {
+    leaf first {
+      type string;
+    }
+  }
+}
\ No newline at end of file
diff --git a/tests/test_thread_messages.c b/tests/test_thread_messages.c
new file mode 100644
index 0000000..9be866b
--- /dev/null
+++ b/tests/test_thread_messages.c
@@ -0,0 +1,189 @@
+/**
+ * \file test_thread_messages
+ * \author Tadeas Vintrlik <xvint04@stud.fit.vutbr.cz>
+ * \brief libnetconf2 tests - thread-safety for receiving messages
+ *
+ * Copyright 2021 Deutsche Telekom AG.
+ * Copyright 2021 CESNET, z.s.p.o.
+ *
+ * This source code is licensed under BSD 3-Clause License (the "License").
+ * You may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     https://opensource.org/licenses/BSD-3-Clause
+ */
+
+#include <pthread.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <unistd.h>
+
+#include <libyang/libyang.h>
+
+#include <log.h>
+#include <messages_p.h>
+#include <messages_server.h>
+#include <session_client.h>
+#include <session_server.h>
+#include "tests/config.h"
+
+/* millisec */
+#define NC_ACCEPT_TIMEOUT 5000
+/* millisec */
+#define NC_PS_POLL_TIMEOUT 5000
+/* sec */
+#define CLIENT_SSH_AUTH_TIMEOUT 10
+
+#define nc_assert(cond) if (!(cond)) { fprintf(stderr, "assert failed (%s:%d)\n", __FILE__, __LINE__); exit(1); }
+
+#if _POSIX_BARRIERS >= 200112L
+pthread_barrier_t barrier;
+pthread_barrier_t barrier_msg;
+#endif
+
+typedef struct arg {
+    int in;
+    int out;
+    struct ly_ctx *ctx;
+} arg_t;
+
+struct nc_server_reply *
+rpc_clb(struct lyd_node *rpc, struct nc_session *session)
+{
+    (void)rpc; (void)session;
+    return nc_server_reply_ok();
+}
+
+static void *
+server_thread(void *arg)
+{
+    struct nc_session *sess;
+    struct nc_server_notif *notif;
+    struct lyd_node *ntf;
+    struct ly_in *in;
+    struct nc_pollsession *ps;
+    arg_t args = *(arg_t *)arg;
+    char *eventtime;
+    struct timespec ts;
+    const char *data;
+    int poll;
+
+    nc_assert(!nc_server_init(args.ctx));
+    nc_assert(nc_accept_inout(args.in, args.out, "test", &sess) == NC_MSG_HELLO);
+    nc_session_inc_notif_status(sess);
+    data =
+            "<n1 xmlns=\"n1\">\n"
+            "  <first>Test</first>\n"
+            "</n1>\n";
+
+    nc_assert(ly_in_new_memory(data, &in) == LY_SUCCESS);
+    nc_assert(lyd_parse_op(args.ctx, NULL, in, LYD_XML, LYD_TYPE_NOTIF_YANG, &ntf, NULL) == LY_SUCCESS);
+    ly_in_free(in, 0);
+
+    nc_assert(clock_gettime(CLOCK_REALTIME, &ts) != -1);
+    nc_assert(ly_time_ts2str(&ts, &eventtime) == LY_SUCCESS);
+    notif = nc_server_notif_new(ntf, eventtime, NC_PARAMTYPE_FREE);
+
+    ps = nc_ps_new();
+    nc_assert(ps);
+    nc_ps_add_session(ps, sess);
+    poll = nc_ps_poll(ps, 1000, &sess);
+    nc_server_notif_send(sess, notif, 1000);
+    nc_assert(poll == NC_PSPOLL_RPC);
+    nc_ps_clear(ps, 1, NULL);
+    nc_ps_free(ps);
+
+    /* Waiting for end of test */
+    pthread_barrier_wait(&barrier);
+
+    nc_server_notif_free(notif);
+    return arg;
+}
+
+static void *
+notif_thread(void *arg)
+{
+    struct nc_session *sess = (struct nc_session *)arg;
+    struct lyd_node *envp;
+    struct lyd_node *op;
+    NC_MSG_TYPE msgtype;
+
+    /* Sync threads for receiving message to increase chance of datarace */
+    pthread_barrier_wait(&barrier_msg);
+    do {
+        msgtype = nc_recv_notif(sess, 1000, &envp, &op);
+    } while (msgtype == NC_MSG_REPLY);
+    nc_assert(msgtype == NC_MSG_NOTIF);
+    lyd_free_tree(envp);
+    lyd_free_tree(op);
+    return arg;
+}
+
+int
+main(void)
+{
+    int pipes[4];
+    struct nc_session *sess;
+    struct lyd_node *op, *envp;
+    struct ly_ctx *ctx;
+    struct nc_rpc *rpc;
+    uint64_t msgid;
+    NC_MSG_TYPE msgtype;
+    const char *features[] = {"startup", NULL};
+    arg_t thread_arg;
+    pthread_t t[2];
+
+    pthread_barrier_init(&barrier, NULL, 2);
+    pthread_barrier_init(&barrier_msg, NULL, 2);
+
+    /* Create a two pipes */
+    nc_assert(pipe(pipes) != -1);
+    nc_assert(pipe(pipes + 2) != -1);
+    thread_arg.in = pipes[0];
+    thread_arg.out = pipes[3];
+
+    /* Create context */
+    nc_assert(ly_ctx_new(TESTS_DIR "/data/modules", 0, &ctx) == LY_SUCCESS);
+    nc_assert(ly_ctx_load_module(ctx, "ietf-netconf", NULL, features));
+    nc_assert(ly_ctx_load_module(ctx, "notif1", NULL, NULL));
+    thread_arg.ctx = ctx;
+    nc_set_global_rpc_clb(rpc_clb);
+
+    /* Start server thread */
+    pthread_create(&t[0], NULL, server_thread, &thread_arg);
+    nc_client_init();
+
+    /* Listen for notifications */
+    sess = nc_connect_inout(pipes[2], pipes[1], ctx);
+    nc_assert(sess);
+    pthread_create(&t[1], NULL, notif_thread, sess);
+
+    /* Send rpc */
+    rpc = nc_rpc_delete(NC_DATASTORE_STARTUP, NULL, NC_PARAMTYPE_CONST);
+    nc_assert(nc_send_rpc(sess, rpc, 1000, &msgid) == NC_MSG_RPC);
+
+    /* Sync threads for receiving message to increase chance of datarace */
+    pthread_barrier_wait(&barrier_msg);
+    do {
+        msgtype = nc_recv_reply(sess, rpc, msgid, 1000, &envp, &op);
+    } while (msgtype == NC_MSG_NOTIF);
+    nc_assert(msgtype == NC_MSG_REPLY);
+    nc_rpc_free(rpc);
+    lyd_free_tree(envp);
+
+    /* Waiting of end of test */
+    pthread_barrier_wait(&barrier);
+    pthread_join(t[0], NULL);
+    pthread_join(t[1], NULL);
+
+    /* Cleanup */
+    nc_session_free(sess, NULL);
+    ly_ctx_destroy(ctx);
+    for (uint8_t i = 0; i < 4; i++) {
+        close(pipes[i]);
+    }
+    return 0;
+}