diff --git a/components/console_cmd_ping/console_ping.c b/components/console_cmd_ping/console_ping.c
index 1e3d54ac17a..f8053226254 100644
--- a/components/console_cmd_ping/console_ping.c
+++ b/components/console_cmd_ping/console_ping.c
@@ -17,6 +17,7 @@
 
 
 static const char *TAG = "console_ping";
+SemaphoreHandle_t sync_semaphore;
 
 static void cmd_ping_on_ping_success(esp_ping_handle_t hdl, void *args)
 {
@@ -68,8 +69,10 @@ static void cmd_ping_on_ping_end(esp_ping_handle_t hdl, void *args)
     printf("%" PRIu32 " packets transmitted, %" PRIu32 " received, %" PRIu32 "%% packet loss, time %" PRIu32 "ms\n",
            transmitted, received, loss, total_time_ms);
     // delete the ping sessions, so that we clean up all resources and can create a new ping session
-    // we don't have to call delete function in the callback, instead we can call delete function from other tasks
-    esp_ping_delete_session(hdl);
+    ESP_ERROR_CHECK(esp_ping_delete_session(hdl));
+
+    /* Give the semaphore as ping task is done */
+    xSemaphoreGive(sync_semaphore);
 }
 
 static struct {
@@ -152,8 +155,13 @@ static int do_ping_cmd(int argc, char **argv)
         .on_ping_end = cmd_ping_on_ping_end
     };
     esp_ping_handle_t ping;
-    esp_ping_new_session(&config, &cbs, &ping);
-    esp_ping_start(ping);
+    ESP_ERROR_CHECK(esp_ping_new_session(&config, &cbs, &ping));
+    ESP_ERROR_CHECK(esp_ping_start(ping));
+
+    /* Wait till the ping task is done */
+    if (xSemaphoreTake(sync_semaphore, portMAX_DELAY) != pdTRUE) {
+        ESP_LOGE(TAG, "Error in xSemaphoreTake\n");
+    }
 
     return 0;
 }
@@ -167,6 +175,7 @@ static int do_ping_cmd(int argc, char **argv)
 esp_err_t console_cmd_ping_register(void)
 {
     esp_err_t ret;
+    sync_semaphore = xSemaphoreCreateBinary();
 
     ping_args.timeout = arg_dbl0("W", "timeout", "<t>", "Time to wait for a response, in seconds");
     ping_args.interval = arg_dbl0("i", "interval", "<t>", "Wait interval seconds between sending each packet");
diff --git a/components/console_cmd_ping/console_ping.h b/components/console_cmd_ping/console_ping.h
index 1c6df02c94d..58a2d92e9f8 100644
--- a/components/console_cmd_ping/console_ping.h
+++ b/components/console_cmd_ping/console_ping.h
@@ -3,8 +3,14 @@
  *
  * SPDX-License-Identifier: Apache-2.0
  */
+
+#pragma once
+
 #include "console_simple_init.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
 
 /**
  * @brief Registers the ping command.
@@ -13,3 +19,7 @@
  *          - esp_err_t
  */
 esp_err_t console_cmd_ping_register(void);
+
+#ifdef __cplusplus
+}
+#endif