diff --git a/rclpy/rclpy/action/server.py b/rclpy/rclpy/action/server.py
index f2a11b851..98f38dec5 100644
--- a/rclpy/rclpy/action/server.py
+++ b/rclpy/rclpy/action/server.py
@@ -373,6 +373,9 @@ async def _execute_goal_request(
 
         self._logger.debug('New goal accepted: {0}'.format(goal_uuid.uuid))
 
+        # Publish accepted status before execution
+        self._handle.publish_status()
+
         # Provide the user a reference to the goal handle
         await await_or_execute(self._handle_accepted_callback, goal_handle)