diff --git a/src/associations.cpp b/src/associations.cpp
index 317836c..0f84d1e 100644
--- a/src/associations.cpp
+++ b/src/associations.cpp
@@ -142,6 +142,7 @@
 void associationChanged(sdbusplus::asio::object_server& objectServer,
                         const std::vector<Association>& associations,
                         const std::string& path, const std::string& owner,
+                        const interface_map_type& interfaceMap,
                         AssociationMaps& assocMaps)
 {
     AssociationPaths objects;
@@ -158,6 +159,15 @@
             std::cerr << "Found invalid association on path " << path << "\n";
             continue;
         }
+
+        // Can't create this association if the endpoint isn't on D-Bus.
+        if (interfaceMap.find(endpoint) == interfaceMap.end())
+        {
+            addPendingAssociation(endpoint, reverse, path, forward, owner,
+                                  assocMaps);
+            continue;
+        }
+
         if (forward.size())
         {
             objects[path + "/" + forward].emplace(endpoint);
@@ -205,24 +215,60 @@
     checkAssociationEndpointRemoves(path, owner, objects, objectServer,
                                     assocMaps);
 
-    // Update associationOwners with the latest info
-    auto a = assocMaps.owners.find(path);
-    if (a != assocMaps.owners.end())
+    if (!objects.empty())
     {
-        auto o = a->second.find(owner);
-        if (o != a->second.end())
+        // Update associationOwners with the latest info
+        auto a = assocMaps.owners.find(path);
+        if (a != assocMaps.owners.end())
         {
-            o->second = std::move(objects);
+            auto o = a->second.find(owner);
+            if (o != a->second.end())
+            {
+                o->second = std::move(objects);
+            }
+            else
+            {
+                a->second.emplace(owner, std::move(objects));
+            }
         }
         else
         {
-            a->second.emplace(owner, std::move(objects));
+            boost::container::flat_map<std::string, AssociationPaths> owners;
+            owners.emplace(owner, std::move(objects));
+            assocMaps.owners.emplace(path, owners);
         }
     }
+}
+
+void addPendingAssociation(const std::string& objectPath,
+                           const std::string& type,
+                           const std::string& endpointPath,
+                           const std::string& endpointType,
+                           const std::string& owner, AssociationMaps& assocMaps)
+{
+    Association assoc{type, endpointType, endpointPath};
+
+    auto p = assocMaps.pending.find(objectPath);
+    if (p == assocMaps.pending.end())
+    {
+        ExistingEndpoints ee;
+        ee.emplace_back(owner, std::move(assoc));
+        assocMaps.pending.emplace(objectPath, std::move(ee));
+    }
     else
     {
-        boost::container::flat_map<std::string, AssociationPaths> owners;
-        owners.emplace(owner, std::move(objects));
-        assocMaps.owners.emplace(path, owners);
+        // Already waiting on this path for another association,
+        // so just add this endpoint and owner.
+        auto& endpoints = p->second;
+        auto e =
+            std::find_if(endpoints.begin(), endpoints.end(),
+                         [&assoc, &owner](const auto& endpoint) {
+                             return (std::get<ownerPos>(endpoint) == owner) &&
+                                    (std::get<assocPos>(endpoint) == assoc);
+                         });
+        if (e == endpoints.end())
+        {
+            endpoints.emplace_back(owner, std::move(assoc));
+        }
     }
 }
diff --git a/src/associations.hpp b/src/associations.hpp
index 31e8b6a..64688bf 100644
--- a/src/associations.hpp
+++ b/src/associations.hpp
@@ -73,6 +73,7 @@
  *                                  org.openbmc.Associations
  * @param[in] owner               - The Dbus service having it's associatons
  *                                  changed
+ * @param[in] interfaceMap        - The full interface map
  * @param[in,out] assocMaps       - The association maps
  *
  * @return Void, objectServer and assocMaps updated if needed
@@ -80,4 +81,32 @@
 void associationChanged(sdbusplus::asio::object_server& objectServer,
                         const std::vector<Association>& associations,
                         const std::string& path, const std::string& owner,
+                        const interface_map_type& interfaceMap,
                         AssociationMaps& assocMaps);
+
+/** @brief Add a pending associations entry
+ *
+ *  Used when a client wants to create an association between
+ *  2 D-Bus endpoint paths, but one of the paths doesn't exist.
+ *  When the path does show up in D-Bus, if there is a pending
+ *  association then the real association objects can be created.
+ *
+ * @param[in] objectPath    - The D-Bus object path that should be an
+ *                            association endpoint but doesn't exist
+ *                            on D-Bus.
+ * @param[in] type          - The association type.  Gets used in the final
+ *                            association path of <objectPath>/<type>.
+ * @param[in] endpointPath  - The D-Bus path on the other side
+ *                            of the association. This path exists.
+ * @param[in] endpointType  - The endpoint association type. Gets used
+ *                            in the final association path of
+ *                            <endpointPath>/<endpointType>.
+ * @param[in] owner         - The service name that owns the association.
+ * @param[in,out] assocMaps - The association maps
+ */
+void addPendingAssociation(const std::string& objectPath,
+                           const std::string& type,
+                           const std::string& endpointPath,
+                           const std::string& endpointType,
+                           const std::string& owner,
+                           AssociationMaps& assocMaps);
diff --git a/src/main.cpp b/src/main.cpp
index fe1ea4c..49b1344 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -128,12 +128,13 @@
 };
 
 void do_associations(sdbusplus::asio::connection* system_bus,
+                     interface_map_type& interfaceMap,
                      sdbusplus::asio::object_server& objectServer,
                      const std::string& processName, const std::string& path,
                      const std::string& assocDefIface)
 {
     system_bus->async_method_call(
-        [&objectServer, path, processName](
+        [&objectServer, path, processName, &interfaceMap](
             const boost::system::error_code ec,
             const sdbusplus::message::variant<std::vector<Association>>&
                 variantAssociations) {
@@ -145,7 +146,7 @@
                 sdbusplus::message::variant_ns::get<std::vector<Association>>(
                     variantAssociations);
             associationChanged(objectServer, associations, path, processName,
-                               associationMaps);
+                               interfaceMap, associationMaps);
         },
         processName, path, "org.freedesktop.DBus.Properties", "Get",
         assocDefIface, getAssocDefPropName(assocDefIface));
@@ -200,7 +201,7 @@
 
                 if (isAssocDefIface(iface_name))
                 {
-                    do_associations(system_bus, objectServer,
+                    do_associations(system_bus, interface_map, objectServer,
                                     transaction->process_name, path,
                                     iface_name);
                 }
@@ -572,7 +573,7 @@
         interfacesRemovedHandler);
 
     std::function<void(sdbusplus::message::message & message)>
-        associationChangedHandler = [&server, &name_owners](
+        associationChangedHandler = [&server, &name_owners, &interface_map](
                                         sdbusplus::message::message& message) {
             std::string objectName;
             boost::container::flat_map<
@@ -600,7 +601,7 @@
                     return;
                 }
                 associationChanged(server, associations, message.get_path(),
-                                   well_known, associationMaps);
+                                   well_known, interface_map, associationMaps);
             }
         };
     sdbusplus::bus::match::match assocChangedMatch(
diff --git a/src/processing.cpp b/src/processing.cpp
index 4d2d3c1..4125389 100644
--- a/src/processing.cpp
+++ b/src/processing.cpp
@@ -117,7 +117,7 @@
                 sdbusplus::message::variant_ns::get<std::vector<Association>>(
                     *variantAssociations);
             associationChanged(server, associations, objPath.str, wellKnown,
-                               assocMaps);
+                               interfaceMap, assocMaps);
         }
     }
 
diff --git a/src/test/associations.cpp b/src/test/associations.cpp
index ce3c9eb..e443043 100644
--- a/src/test/associations.cpp
+++ b/src/test/associations.cpp
@@ -167,6 +167,7 @@
 TEST_F(TestAssociations, associationChangedEmptyEndpoint)
 {
     std::vector<Association> associations = {{"inventory", "error", ""}};
+    interface_map_type interfaceMap;
 
     AssociationMaps assocMaps;
     assocMaps.owners = createDefaultOwnerAssociation();
@@ -174,7 +175,7 @@
 
     // Empty endpoint will result in deletion of corresponding assocInterface
     associationChanged(*server, associations, DEFAULT_SOURCE_PATH,
-                       DEFAULT_DBUS_SVC, assocMaps);
+                       DEFAULT_DBUS_SVC, interfaceMap, assocMaps);
 
     // Both of these should be 0 since we have an invalid endpoint
     auto intfEndpoints =
@@ -182,6 +183,8 @@
     EXPECT_EQ(intfEndpoints.size(), 0);
     intfEndpoints = std::get<endpointsPos>(assocMaps.ifaces[DEFAULT_REV_PATH]);
     EXPECT_EQ(intfEndpoints.size(), 0);
+
+    EXPECT_EQ(assocMaps.pending.size(), 0);
 }
 
 // Add a new association with endpoint
@@ -194,8 +197,13 @@
     assocMaps.owners = createDefaultOwnerAssociation();
     assocMaps.ifaces = createDefaultInterfaceAssociation(server);
 
+    // Make it look like the assoc endpoints are on D-Bus
+    interface_map_type interfaceMap = {
+        {"/new/source/path", {{DEFAULT_DBUS_SVC, {"a"}}}},
+        {"/xyz/openbmc_project/new/endpoint", {{DEFAULT_DBUS_SVC, {"a"}}}}};
+
     associationChanged(*server, associations, "/new/source/path",
-                       DEFAULT_DBUS_SVC, assocMaps);
+                       DEFAULT_DBUS_SVC, interfaceMap, assocMaps);
 
     // Two source paths
     EXPECT_EQ(assocMaps.owners.size(), 2);
@@ -203,6 +211,9 @@
     // Four interfaces
     EXPECT_EQ(assocMaps.ifaces.size(), 4);
 
+    // Nothing pending
+    EXPECT_EQ(assocMaps.pending.size(), 0);
+
     // New endpoint so assocMaps.ifaces should be same size
     auto intfEndpoints =
         std::get<endpointsPos>(assocMaps.ifaces[DEFAULT_FWD_PATH]);
@@ -222,12 +233,18 @@
     // changed association and interface
     AssociationMaps assocMaps;
 
+    // Make it look like the assoc endpoints are on D-Bus
+    interface_map_type interfaceMap = createDefaultInterfaceMap();
+
     associationChanged(*server, associations, DEFAULT_SOURCE_PATH,
-                       DEFAULT_DBUS_SVC, assocMaps);
+                       DEFAULT_DBUS_SVC, interfaceMap, assocMaps);
 
     // New associations so ensure it now contains a single entry
     EXPECT_EQ(assocMaps.owners.size(), 1);
 
+    // Nothing pending
+    EXPECT_EQ(assocMaps.pending.size(), 0);
+
     // Verify corresponding assoc paths each have one endpoint in assoc
     // interfaces and that those endpoints match
     auto singleOwner = assocMaps.owners[DEFAULT_SOURCE_PATH];
@@ -248,12 +265,15 @@
         {"inventory", "error",
          "/xyz/openbmc_project/inventory/system/chassis"}};
 
+    // Make it look like the assoc endpoints are on D-Bus
+    interface_map_type interfaceMap = createDefaultInterfaceMap();
+
     AssociationMaps assocMaps;
     assocMaps.owners = createDefaultOwnerAssociation();
     assocMaps.ifaces = createDefaultInterfaceAssociation(server);
 
     associationChanged(*server, associations, DEFAULT_SOURCE_PATH, newOwner,
-                       assocMaps);
+                       interfaceMap, assocMaps);
 
     // New endpoint so assocOwners should be same size
     EXPECT_EQ(assocMaps.owners.size(), 1);
@@ -267,6 +287,9 @@
     auto a = assocMaps.owners.find(DEFAULT_SOURCE_PATH);
     auto o = a->second.find(newOwner);
     EXPECT_EQ(o->second.size(), 2);
+
+    // Nothing pending
+    EXPECT_EQ(assocMaps.pending.size(), 0);
 }
 
 // Add a new association to existing interface path
@@ -275,12 +298,15 @@
     std::vector<Association> associations = {
         {"abc", "error", "/xyz/openbmc_project/inventory/system/chassis"}};
 
+    // Make it look like the assoc endpoints are on D-Bus
+    interface_map_type interfaceMap = createDefaultInterfaceMap();
+
     AssociationMaps assocMaps;
     assocMaps.owners = createDefaultOwnerAssociation();
     assocMaps.ifaces = createDefaultInterfaceAssociation(server);
 
     associationChanged(*server, associations, DEFAULT_SOURCE_PATH,
-                       DEFAULT_DBUS_SVC, assocMaps);
+                       DEFAULT_DBUS_SVC, interfaceMap, assocMaps);
 
     // Should have 3 entries in AssociationInterfaces, one is just missing an
     // endpoint
@@ -298,4 +324,6 @@
 
     // Added to an existing owner path so still 1
     EXPECT_EQ(assocMaps.owners.size(), 1);
+
+    EXPECT_EQ(assocMaps.pending.size(), 0);
 }
diff --git a/src/test/interfaces_added.cpp b/src/test/interfaces_added.cpp
index 4f0d2c4..bee978f 100644
--- a/src/test/interfaces_added.cpp
+++ b/src/test/interfaces_added.cpp
@@ -34,7 +34,7 @@
 // Verify good path of interfaces added function
 TEST_F(TestInterfacesAdded, InterfacesAddedGoodPath)
 {
-    interface_map_type interfaceMap;
+    auto interfaceMap = createDefaultInterfaceMap();
     AssociationMaps assocMaps;
 
     auto intfAdded = createInterfacesAdded(
@@ -44,9 +44,9 @@
                           DEFAULT_DBUS_SVC, assocMaps, *server);
 
     // Interface map will get the following:
-    // /logging/entry/1 /logging/entry /logging/ /
+    // /logging/entry/1 /logging/entry /logging/ / system/chassis
     // dump_InterfaceMapType(interfaceMap);
-    EXPECT_EQ(interfaceMap.size(), 4);
+    EXPECT_EQ(interfaceMap.size(), 5);
 
     // New association ower created so ensure it now contains a single entry
     // dump_AssociationOwnersType(assocOwners);
@@ -55,11 +55,14 @@
     // Ensure the 2 association interfaces were created
     // dump_AssociationInterfaces(assocInterfaces);
     EXPECT_EQ(assocMaps.ifaces.size(), 2);
+
+    // No pending associations
+    EXPECT_EQ(assocMaps.pending.size(), 0);
 }
 
 TEST_F(TestInterfacesAdded, OrgOpenBmcInterfacesAddedGoodPath)
 {
-    interface_map_type interfaceMap;
+    auto interfaceMap = createDefaultInterfaceMap();
     AssociationMaps assocMaps;
 
     auto intfAdded = createInterfacesAdded(
@@ -70,9 +73,8 @@
                           DEFAULT_DBUS_SVC, assocMaps, *server);
 
     // Interface map will get the following:
-    // /logging/entry/1 /logging/entry /logging/ /
-    // dump_InterfaceMapType(interfaceMap);
-    EXPECT_EQ(interfaceMap.size(), 4);
+    // /logging/entry/1 /logging/entry /logging/ /  system/chassis
+    EXPECT_EQ(interfaceMap.size(), 5);
 
     // New association ower created so ensure it now contains a single entry
     // dump_AssociationOwnersType(assocOwners);
@@ -81,4 +83,7 @@
     // Ensure the 2 association interfaces were created
     // dump_AssociationInterfaces(assocInterfaces);
     EXPECT_EQ(assocMaps.ifaces.size(), 2);
+
+    // No pending associations
+    EXPECT_EQ(assocMaps.pending.size(), 0);
 }
diff --git a/src/test/util/association_objects.hpp b/src/test/util/association_objects.hpp
index 45b89d6..632e5ff 100644
--- a/src/test/util/association_objects.hpp
+++ b/src/test/util/association_objects.hpp
@@ -58,3 +58,14 @@
     interface_map_type interfaceMap = {{path, connectionMap}};
     return interfaceMap;
 }
+
+// Create a default interface_map_type with 2 entries with the same
+// owner.
+interface_map_type createDefaultInterfaceMap()
+{
+    interface_map_type interfaceMap = {
+        {DEFAULT_SOURCE_PATH, {{DEFAULT_DBUS_SVC, {"a"}}}},
+        {DEFAULT_ENDPOINT, {{DEFAULT_DBUS_SVC, {"b"}}}}};
+
+    return interfaceMap;
+}
diff --git a/src/types.hpp b/src/types.hpp
index 0696f47..df7b7fa 100644
--- a/src/types.hpp
+++ b/src/types.hpp
@@ -64,10 +64,26 @@
 using Association = std::tuple<std::string, std::string, std::string>;
 
 /**
+ * PendingAssociations tracks associations that cannot be created because
+ * the endpoint (the last element of the Association tuple) doesn't exist.
+ * When that endpoint shows up on D-Bus, both association paths can then
+ * be created.  Also, if a valid association has an endpoint removed from
+ * D-Bus, then a new PendingAssociations entry will be created until it
+ * reappears.  It has all of the information it needs to recreate the
+ * association.
+ */
+constexpr auto ownerPos = 0;
+constexpr auto assocPos = 1;
+using ExistingEndpoint = std::tuple<std::string, Association>;
+using ExistingEndpoints = std::vector<ExistingEndpoint>;
+using PendingAssociations = std::map<std::string, ExistingEndpoints>;
+
+/**
  * Keeps all association related maps together.
  */
 struct AssociationMaps
 {
     AssociationInterfaces ifaces;
     AssociationOwnersType owners;
+    PendingAssociations pending;
 };