diff --git a/wpiutil/src/main/native/cpp/SafeThread.cpp b/wpiutil/src/main/native/cpp/SafeThread.cpp
index 284e75d376..13ba1a4908 100644
--- a/wpiutil/src/main/native/cpp/SafeThread.cpp
+++ b/wpiutil/src/main/native/cpp/SafeThread.cpp
@@ -21,20 +21,39 @@ detail::SafeThreadProxyBase::SafeThreadProxyBase(
   }
 }
 
+detail::SafeThreadOwnerBase::~SafeThreadOwnerBase() {
+  if (m_joinAtExit)
+    Join();
+  else
+    Stop();
+}
+
 void detail::SafeThreadOwnerBase::Start(std::shared_ptr<SafeThread> thr) {
   std::lock_guard<wpi::mutex> lock(m_mutex);
   if (auto thr = m_thread.lock()) return;
-  std::thread stdThread([=] { thr->Main(); });
+  m_stdThread = std::thread([=] { thr->Main(); });
   m_thread = thr;
-  m_nativeHandle = stdThread.native_handle();
-  stdThread.detach();
 }
 
 void detail::SafeThreadOwnerBase::Stop() {
   std::lock_guard<wpi::mutex> lock(m_mutex);
   if (auto thr = m_thread.lock()) {
     thr->m_active = false;
-    thr->m_cond.notify_one();
+    thr->m_cond.notify_all();
+    m_stdThread.detach();
+    m_thread.reset();
+  }
+}
+
+void detail::SafeThreadOwnerBase::Join() {
+  std::unique_lock<wpi::mutex> lock(m_mutex);
+  if (auto thr = m_thread.lock()) {
+    auto stdThread = std::move(m_stdThread);
+    m_thread.reset();
+    lock.unlock();
+    thr->m_active = false;
+    thr->m_cond.notify_all();
+    stdThread.join();
   }
 }
 
@@ -44,8 +63,8 @@ void detail::swap(SafeThreadOwnerBase& lhs, SafeThreadOwnerBase& rhs) noexcept {
   std::lock(lhs.m_mutex, rhs.m_mutex);
   std::lock_guard<wpi::mutex> lock_lhs(lhs.m_mutex, std::adopt_lock);
   std::lock_guard<wpi::mutex> lock_rhs(rhs.m_mutex, std::adopt_lock);
+  std::swap(lhs.m_stdThread, rhs.m_stdThread);
   std::swap(lhs.m_thread, rhs.m_thread);
-  std::swap(lhs.m_nativeHandle, rhs.m_nativeHandle);
 }
 
 detail::SafeThreadOwnerBase::operator bool() const {
@@ -54,9 +73,9 @@ detail::SafeThreadOwnerBase::operator bool() const {
 }
 
 std::thread::native_handle_type
-detail::SafeThreadOwnerBase::GetNativeThreadHandle() const {
+detail::SafeThreadOwnerBase::GetNativeThreadHandle() {
   std::lock_guard<wpi::mutex> lock(m_mutex);
-  return m_nativeHandle;
+  return m_stdThread.native_handle();
 }
 
 std::shared_ptr<SafeThread> detail::SafeThreadOwnerBase::GetThread() const {
diff --git a/wpiutil/src/main/native/include/wpi/SafeThread.h b/wpiutil/src/main/native/include/wpi/SafeThread.h
index af6d90db89..ec4e2e15af 100644
--- a/wpiutil/src/main/native/include/wpi/SafeThread.h
+++ b/wpiutil/src/main/native/include/wpi/SafeThread.h
@@ -21,12 +21,11 @@ namespace wpi {
 // Base class for SafeThreadOwner threads.
 class SafeThread {
  public:
-  SafeThread() { m_active = true; }
   virtual ~SafeThread() = default;
   virtual void Main() = 0;
 
   mutable wpi::mutex m_mutex;
-  std::atomic_bool m_active;
+  std::atomic_bool m_active{true};
   wpi::condition_variable m_cond;
 };
 
@@ -59,6 +58,7 @@ class SafeThreadProxy : public SafeThreadProxyBase {
 class SafeThreadOwnerBase {
  public:
   void Stop();
+  void Join();
 
   SafeThreadOwnerBase() noexcept = default;
   SafeThreadOwnerBase(const SafeThreadOwnerBase&) = delete;
@@ -71,13 +71,15 @@ class SafeThreadOwnerBase {
     swap(*this, other);
     return *this;
   }
-  ~SafeThreadOwnerBase() { Stop(); }
+  ~SafeThreadOwnerBase();
 
   friend void swap(SafeThreadOwnerBase& lhs, SafeThreadOwnerBase& rhs) noexcept;
 
   explicit operator bool() const;
 
-  std::thread::native_handle_type GetNativeThreadHandle() const;
+  std::thread::native_handle_type GetNativeThreadHandle();
+
+  void SetJoinAtExit(bool joinAtExit) { m_joinAtExit = joinAtExit; }
 
  protected:
   void Start(std::shared_ptr<SafeThread> thr);
@@ -85,8 +87,9 @@ class SafeThreadOwnerBase {
 
  private:
   mutable wpi::mutex m_mutex;
+  std::thread m_stdThread;
   std::weak_ptr<SafeThread> m_thread;
-  std::thread::native_handle_type m_nativeHandle;
+  std::atomic_bool m_joinAtExit{true};
 };
 
 void swap(SafeThreadOwnerBase& lhs, SafeThreadOwnerBase& rhs) noexcept;
diff --git a/wpiutil/src/main/native/include/wpi/jni_util.h b/wpiutil/src/main/native/include/wpi/jni_util.h
index 9b20ad2e2a..7cb6c657b4 100644
--- a/wpiutil/src/main/native/include/wpi/jni_util.h
+++ b/wpiutil/src/main/native/include/wpi/jni_util.h
@@ -479,6 +479,7 @@ class JCallbackThread : public SafeThread {
 template <typename T>
 class JCallbackManager : public SafeThreadOwner<JCallbackThread<T>> {
  public:
+  JCallbackManager() { this->SetJoinAtExit(false); }
   void SetFunc(JNIEnv* env, jobject func, jmethodID mid);
 
   template <typename... Args>