diff --git a/examples/twr_aloha/control.c b/examples/twr_aloha/control.c
index 42d1332d04e1..5672f6a9060f 100644
--- a/examples/twr_aloha/control.c
+++ b/examples/twr_aloha/control.c
@@ -146,7 +146,7 @@ static bool _complete_cb(struct uwb_dev *inst, struct uwb_mac_interface *cbs)
     if (inst->fctrl != FCNTL_IEEE_RANGE_16 &&
         inst->fctrl != (FCNTL_IEEE_RANGE_16 | UWB_FCTRL_ACK_REQUESTED)) {
         /* on completion of a range request setup an event to keep listening */
-        event_post(uwb_core_get_eventq(), &_rng_listen_event.super);
+        event_callback_post(uwb_core_get_eventq(), &_rng_listen_event);
         return false;
     }
 
@@ -163,7 +163,7 @@ static bool _complete_cb(struct uwb_dev *inst, struct uwb_mac_interface *cbs)
     if (IS_ACTIVE(CONFIG_TWR_PRINTF_INITIATOR_ONLY) &&
         ((frame->code < UWB_DATA_CODE_DS_TWR && frame->src_address != _udev->uid) ||
          (frame->code >= UWB_DATA_CODE_DS_TWR && frame->dst_address != _udev->uid))) {
-        event_post(uwb_core_get_eventq(), &_rng_listen_event.super);
+        event_callback_post(uwb_core_get_eventq(), &_rng_listen_event);
         return true;
     }
 
@@ -183,9 +183,9 @@ static bool _complete_cb(struct uwb_dev *inst, struct uwb_mac_interface *cbs)
 #endif
     /* offload range data printing */
     memcpy(&_rng_data, &data, sizeof(uwb_core_rng_data_t));
-    event_post(uwb_core_get_eventq(), &_print_rng_data_event.super);
+    event_callback_post(uwb_core_get_eventq(), &_print_rng_data_event);
     /* on completion of a range request setup an event to keep listening */
-    event_post(uwb_core_get_eventq(), &_rng_listen_event.super);
+    event_callback_post(uwb_core_get_eventq(), &_rng_listen_event);
     return true;
 }
 
@@ -201,7 +201,7 @@ static bool _rx_timeout_cb(struct uwb_dev *inst, struct uwb_mac_interface *cbs)
 {
     (void)inst;
     (void)cbs;
-    event_post(uwb_core_get_eventq(), &_rng_listen_event.super);
+    event_callback_post(uwb_core_get_eventq(), &_rng_listen_event);
     return true;
 }
 
@@ -238,7 +238,7 @@ void uwb_core_rng_listen_enable(void)
 {
     _status |= TWR_STATUS_RESPONDER;
     /* post event to start listening */
-    event_post(uwb_core_get_eventq(), &_rng_listen_event.super);
+    event_callback_post(uwb_core_get_eventq(), &_rng_listen_event);
 }
 
 void uwb_core_rng_listen_disable(void)
diff --git a/sys/event/event.c b/sys/event/event.c
index 2a73ebe3495b..e9bd1ce313af 100644
--- a/sys/event/event.c
+++ b/sys/event/event.c
@@ -37,6 +37,7 @@
 void event_post(event_queue_t *queue, event_t *event)
 {
     assert(queue && event);
+    assert(event->handler);
 
     unsigned state = irq_disable();
     if (!event->list_node.next) {
diff --git a/sys/include/event/callback.h b/sys/include/event/callback.h
index eb46a815308a..ffed28db3b3a 100644
--- a/sys/include/event/callback.h
+++ b/sys/include/event/callback.h
@@ -36,6 +36,7 @@
 #ifndef EVENT_CALLBACK_H
 #define EVENT_CALLBACK_H
 
+#include <assert.h>
 #include "event.h"
 
 #ifdef __cplusplus
@@ -60,6 +61,25 @@ typedef struct {
  */
 void event_callback_init(event_callback_t *event_callback, void (*callback)(void *), void *arg);
 
+/**
+ * @brief   Queue an event
+ *
+ * The given event will be posted on the given @p queue. If the event is already
+ * queued when calling this function, the event will not be touched and remain
+ * in the previous position on the queue. So reposting an event while it is
+ * already on the queue will have no effect.
+ *
+ * @pre     queue should be initialized
+ *
+ * @param[in]   queue   event queue to queue event in
+ * @param[in]   event   event to queue in event queue
+ */
+static inline void event_callback_post(event_queue_t *queue, event_callback_t *event)
+{
+    assert(event->callback);
+    event_post(queue, &event->super);
+}
+
 /**
  * @brief   Generate a one-shot callback event on @p queue
  *
diff --git a/sys/include/event/periodic_callback.h b/sys/include/event/periodic_callback.h
index 26ff293f9f74..81a48aba7a79 100644
--- a/sys/include/event/periodic_callback.h
+++ b/sys/include/event/periodic_callback.h
@@ -25,6 +25,7 @@
 #ifndef EVENT_PERIODIC_CALLBACK_H
 #define EVENT_PERIODIC_CALLBACK_H
 
+#include <assert.h>
 #include "event/callback.h"
 #include "event/periodic.h"
 
@@ -94,6 +95,7 @@ static inline void event_periodic_callback_init(event_periodic_callback_t *event
 static inline void event_periodic_callback_start(event_periodic_callback_t *event,
                                                  uint32_t interval)
 {
+    assert(event->event.callback);
     event_periodic_start(&event->periodic, interval);
 }
 
diff --git a/sys/net/application_layer/gcoap/gcoap.c b/sys/net/application_layer/gcoap/gcoap.c
index 6ff37f74348b..10efb6a215d3 100644
--- a/sys/net/application_layer/gcoap/gcoap.c
+++ b/sys/net/application_layer/gcoap/gcoap.c
@@ -1858,7 +1858,7 @@ ssize_t gcoap_req_send(const uint8_t *buf, size_t len,
             event_callback_init(&_receive_from_cache,
                                 _receive_from_cache_cb,
                                 memo);
-            event_post(&_queue, &_receive_from_cache.super);
+            event_callback_post(&_queue, &_receive_from_cache);
             return len;
         }
     }