diff --git a/modules/libcom/src/osi/os/vxWorks/osdThread.c b/modules/libcom/src/osi/os/vxWorks/osdThread.c
index 7a0fe7b9f..8a24add1c 100644
--- a/modules/libcom/src/osi/os/vxWorks/osdThread.c
+++ b/modules/libcom/src/osi/os/vxWorks/osdThread.c
@@ -223,7 +223,14 @@ epicsThreadCreateOpt (
     return((epicsThreadId)tid);
 }
 
-void epicsThreadJoin(epicsThreadId id) {}
+void epicsThreadJoin(epicsThreadId id) {
+#if EPICS_THREAD_CAN_JOIN
+    int tid = (int)id;
+
+    if (tid)
+        taskWait(tid, WAIT_FOREVER);
+#endif
+}
 
 void epicsThreadSuspendSelf()
 {
diff --git a/modules/libcom/src/osi/os/vxWorks/osdThread.h b/modules/libcom/src/osi/os/vxWorks/osdThread.h
index 09704b667..8fa454ce3 100644
--- a/modules/libcom/src/osi/os/vxWorks/osdThread.h
+++ b/modules/libcom/src/osi/os/vxWorks/osdThread.h
@@ -10,7 +10,13 @@
 #ifndef osdThreadh
 #define osdThreadh
 
-/* This target does not support joining threads */
-#define EPICS_THREAD_CAN_JOIN (0)
+/* VxWorks 6.9 and later can support joining threads */
+
+#if (_WRS_VXWORKS_MAJOR > 6) || \
+    (_WRS_VXWORKS_MAJOR == 6 && _WRS_VXWORKS_MINOR >= 9)
+#   define EPICS_THREAD_CAN_JOIN (1)
+#else
+#   define EPICS_THREAD_CAN_JOIN (0)
+#endif
 
 #endif /* osdThreadh */