diff --git a/config/config.go b/config/config.go
index bbb3914e09..1111ea33b9 100644
--- a/config/config.go
+++ b/config/config.go
@@ -22,7 +22,7 @@ import (
 	"github.com/libp2p/go-libp2p/p2p/host/relay"
 	routed "github.com/libp2p/go-libp2p/p2p/host/routed"
 	circuitv2 "github.com/libp2p/go-libp2p/p2p/protocol/circuitv2/client"
-	holepunch "github.com/libp2p/go-libp2p/p2p/protocol/holepunch"
+	"github.com/libp2p/go-libp2p/p2p/protocol/holepunch"
 
 	autonat "github.com/libp2p/go-libp2p-autonat"
 	blankhost "github.com/libp2p/go-libp2p-blankhost"
@@ -201,7 +201,6 @@ func (cfg *Config) NewNode(ctx context.Context) (host.Host, error) {
 		EnableHolePunching:  cfg.EnableHolePunching,
 		HolePunchingOptions: cfg.HolePunchingOptions,
 	})
-
 	if err != nil {
 		swrm.Close()
 		return nil, err
@@ -251,6 +250,7 @@ func (cfg *Config) NewNode(ctx context.Context) (host.Host, error) {
 
 	// Note: h.AddrsFactory may be changed by AutoRelay, but non-relay version is
 	// used by AutoNAT below.
+	var autorelay *relay.AutoRelay
 	addrF := h.AddrsFactory
 	if cfg.EnableAutoRelay {
 		if !cfg.Relay {
@@ -259,13 +259,12 @@ func (cfg *Config) NewNode(ctx context.Context) (host.Host, error) {
 		}
 
 		if len(cfg.StaticRelays) > 0 {
-			_ = relay.NewAutoRelay(ctx, h, nil, router, cfg.StaticRelays)
+			autorelay = relay.NewAutoRelay(h, nil, router, cfg.StaticRelays)
 		} else {
 			if router == nil {
 				h.Close()
 				return nil, fmt.Errorf("cannot enable autorelay; no routing for discovery")
 			}
-
 			crouter, ok := router.(routing.ContentRouting)
 			if !ok {
 				h.Close()
@@ -273,8 +272,7 @@ func (cfg *Config) NewNode(ctx context.Context) (host.Host, error) {
 			}
 
 			discovery := discovery.NewRoutingDiscovery(crouter)
-
-			_ = relay.NewAutoRelay(ctx, h, discovery, router, cfg.StaticRelays)
+			autorelay = relay.NewAutoRelay(h, discovery, router, cfg.StaticRelays)
 		}
 	}
 
@@ -341,10 +339,25 @@ func (cfg *Config) NewNode(ctx context.Context) (host.Host, error) {
 	// start the host background tasks
 	h.Start()
 
+	var ho host.Host
+	ho = h
 	if router != nil {
-		return routed.Wrap(h, router), nil
+		ho = routed.Wrap(h, router)
+	}
+	if autorelay != nil {
+		return &autoRelayHost{Host: ho, autoRelay: autorelay}, nil
 	}
-	return h, nil
+	return ho, nil
+}
+
+type autoRelayHost struct {
+	host.Host
+	autoRelay *relay.AutoRelay
+}
+
+func (h *autoRelayHost) Close() error {
+	_ = h.autoRelay.Close()
+	return h.Host.Close()
 }
 
 // Option is a libp2p config option that can be given to the libp2p constructor
diff --git a/p2p/host/relay/autorelay.go b/p2p/host/relay/autorelay.go
index 11c1a3c9db..9bd9ffbb5c 100644
--- a/p2p/host/relay/autorelay.go
+++ b/p2p/host/relay/autorelay.go
@@ -49,6 +49,9 @@ type AutoRelay struct {
 
 	static []peer.AddrInfo
 
+	refCount  sync.WaitGroup
+	ctxCancel context.CancelFunc
+
 	disconnect chan struct{}
 
 	mx     sync.Mutex
@@ -59,8 +62,10 @@ type AutoRelay struct {
 	cachedAddrsExpiry time.Time
 }
 
-func NewAutoRelay(ctx context.Context, bhost *basic.BasicHost, discover discovery.Discoverer, router routing.PeerRouting, static []peer.AddrInfo) *AutoRelay {
+func NewAutoRelay(bhost *basic.BasicHost, discover discovery.Discoverer, router routing.PeerRouting, static []peer.AddrInfo) *AutoRelay {
+	ctx, cancel := context.WithCancel(context.Background())
 	ar := &AutoRelay{
+		ctxCancel:  cancel,
 		host:       bhost,
 		discover:   discover,
 		router:     router,
@@ -72,6 +77,7 @@ func NewAutoRelay(ctx context.Context, bhost *basic.BasicHost, discover discover
 	}
 	bhost.AddrsFactory = ar.hostAddrs
 	bhost.Network().Notify(ar)
+	ar.refCount.Add(1)
 	go ar.background(ctx)
 	return ar
 }
@@ -81,6 +87,8 @@ func (ar *AutoRelay) hostAddrs(addrs []ma.Multiaddr) []ma.Multiaddr {
 }
 
 func (ar *AutoRelay) background(ctx context.Context) {
+	defer ar.refCount.Done()
+
 	subReachability, _ := ar.host.EventBus().Subscribe(new(event.EvtLocalReachabilityChanged))
 	defer subReachability.Close()
 
@@ -318,6 +326,12 @@ func (ar *AutoRelay) relayAddrs(addrs []ma.Multiaddr) []ma.Multiaddr {
 	return raddrs
 }
 
+func (ar *AutoRelay) Close() error {
+	ar.ctxCancel()
+	ar.refCount.Wait()
+	return nil
+}
+
 func shuffleRelays(pis []peer.AddrInfo) {
 	for i := range pis {
 		j := rand.Intn(i + 1)