diff --git a/go.sum b/go.sum
index b76aa91d..4b7b72a8 100644
--- a/go.sum
+++ b/go.sum
@@ -62,6 +62,7 @@ github.com/free5gc/nas v1.0.7 h1:c+UXWENvJgTr/QZl50SyX+ZZzUdazGHHZ9ZGtnnwG5A=
 github.com/free5gc/nas v1.0.7/go.mod h1:qPj0gxFk81cH9zIkg4hm3ID0hkYofBlzZzcciBnJxwY=
 github.com/free5gc/ngap v1.0.6 h1:f9sKqHMNrFZVo9Kp8hAyrCXSoI8l746N5O+DFn7vKHA=
 github.com/free5gc/ngap v1.0.6/go.mod h1:TG1kwwU/EyIlJ3bxY591rdxpD5ZeYnLZTzoWjcfvrBM=
+github.com/free5gc/openapi v1.0.4/go.mod h1:KRCnnp0GeK0Bl4gnrX79cQAidKXNENf8VRdG0y9R0Fc=
 github.com/free5gc/openapi v1.0.5 h1:S25JqyrTgLwcH6pqZE6U448vv0RKg1CoH48AQ4Cj/d4=
 github.com/free5gc/openapi v1.0.5/go.mod h1:KRCnnp0GeK0Bl4gnrX79cQAidKXNENf8VRdG0y9R0Fc=
 github.com/free5gc/pfcp v1.0.4 h1:11ous/chOya/bG0bHAHHEUc7JUB2g6svABock8Ta2Zs=
diff --git a/internal/context/context.go b/internal/context/context.go
index d4c5e5c7..2540b762 100644
--- a/internal/context/context.go
+++ b/internal/context/context.go
@@ -1,10 +1,12 @@
 package context
 
 import (
+	"context"
 	"fmt"
 	"net"
 	"os"
 	"sync/atomic"
+	"time"
 
 	"github.com/google/uuid"
 
@@ -43,13 +45,15 @@ type SMFContext struct {
 
 	SnssaiInfos []SnssaiSmfInfo
 
-	NrfUri                         string
-	NFManagementClient             *Nnrf_NFManagement.APIClient
-	NFDiscoveryClient              *Nnrf_NFDiscovery.APIClient
-	SubscriberDataManagementClient *Nudm_SubscriberDataManagement.APIClient
-	Locality                       string
+	NrfUri                              string
+	NFManagementClient                  *Nnrf_NFManagement.APIClient
+	NFDiscoveryClient                   *Nnrf_NFDiscovery.APIClient
+	SubscriberDataManagementClient      *Nudm_SubscriberDataManagement.APIClient
+	Locality                            string
+	AssociationSetupFailedAlertInterval time.Duration
 
 	UserPlaneInformation *UserPlaneInformation
+	PFCPCancelFunc       context.CancelFunc
 
 	// Now only "IPv4" supported
 	// TODO: support "IPv6", "IPv4v6", "Ethernet"
@@ -154,6 +158,12 @@ func InitSmfContext(config *factory.Config) {
 			smfContext.CPNodeID.NodeIdType = pfcpType.NodeIdTypeIpv6Address
 			smfContext.CPNodeID.IP = addr.IP
 		}
+
+		if pfcp.AlertInterval == 0 {
+			smfContext.AssociationSetupFailedAlertInterval = 5 * time.Minute
+		} else {
+			smfContext.AssociationSetupFailedAlertInterval = pfcp.AlertInterval
+		}
 	}
 
 	smfContext.SnssaiInfos = make([]SnssaiSmfInfo, 0, len(configuration.SNssaiInfo))
diff --git a/pkg/factory/config.go b/pkg/factory/config.go
index 4f4c6a42..288c55a3 100644
--- a/pkg/factory/config.go
+++ b/pkg/factory/config.go
@@ -212,6 +212,8 @@ func (t *Tls) validate() (bool, error) {
 type PFCP struct {
 	Addr string `yaml:"addr,omitempty" valid:"host,required"`
 	Port uint16 `yaml:"port,omitempty" valid:"port,optional"`
+	// interval at which PFCP Association Setup error messages are output.
+	AlertInterval time.Duration `yaml:"associationSetupFailedAlertInterval,omitempty" valid:"type(time.Duration),optional"`
 }
 
 func (p *PFCP) validate() (bool, error) {
diff --git a/pkg/service/association.go b/pkg/service/association.go
index e279c916..b4bac9f6 100644
--- a/pkg/service/association.go
+++ b/pkg/service/association.go
@@ -1,7 +1,9 @@
 package service
 
 import (
+	"context"
 	"fmt"
+	"time"
 
 	"github.com/free5gc/pfcp"
 	"github.com/free5gc/pfcp/pfcpType"
@@ -10,6 +12,46 @@ import (
 	"github.com/free5gc/smf/internal/pfcp/message"
 )
 
+func toBeAssociatedWithUPF(ctx context.Context, upf *smf_context.UPF) {
+	var upfStr string
+	if upf.NodeID.NodeIdType == pfcpType.NodeIdTypeFqdn {
+		upfStr = fmt.Sprintf("[%s](%s)", upf.NodeID.FQDN, upf.NodeID.ResolveNodeIdToIp().String())
+	} else {
+		upfStr = fmt.Sprintf("[%s]", upf.NodeID.ResolveNodeIdToIp().String())
+	}
+	ensureSetupPfcpAssociation(ctx, upf, upfStr)
+}
+
+func isDone(ctx context.Context) bool {
+	select {
+	case <-ctx.Done():
+		return true
+	default:
+		return false
+	}
+}
+
+func ensureSetupPfcpAssociation(ctx context.Context, upf *smf_context.UPF, upfStr string) {
+	var alertTime time.Time
+	alertInterval := smf_context.SMF_Self().AssociationSetupFailedAlertInterval
+	for {
+		err := setupPfcpAssociation(upf, upfStr)
+		if err == nil {
+			return
+		}
+		now := time.Now()
+		if alertTime.IsZero() || now.After(alertTime.Add(alertInterval)) {
+			logger.AppLog.Errorf("Failed to setup an association with UPF%s, error:%+v", upfStr, err)
+			alertTime = now
+		}
+
+		if isDone(ctx) {
+			logger.AppLog.Infof("Canceled association request to UPF%s", upfStr)
+			return
+		}
+	}
+}
+
 func setupPfcpAssociation(upf *smf_context.UPF, upfStr string) error {
 	logger.AppLog.Infof("Sending PFCP Association Request to UPF%s", upfStr)
 
diff --git a/pkg/service/init.go b/pkg/service/init.go
index 02ef09db..a1c68b1f 100644
--- a/pkg/service/init.go
+++ b/pkg/service/init.go
@@ -1,6 +1,7 @@
 package service
 
 import (
+	"context"
 	"fmt"
 	"os"
 	"os/signal"
@@ -16,8 +17,7 @@ import (
 	ngapLogger "github.com/free5gc/ngap/logger"
 	"github.com/free5gc/openapi/models"
 	pfcpLogger "github.com/free5gc/pfcp/logger"
-	"github.com/free5gc/pfcp/pfcpType"
-	"github.com/free5gc/smf/internal/context"
+	smf_context "github.com/free5gc/smf/internal/context"
 	"github.com/free5gc/smf/internal/logger"
 	"github.com/free5gc/smf/internal/pfcp"
 	"github.com/free5gc/smf/internal/pfcp/udp"
@@ -222,10 +222,10 @@ func (smf *SMF) Start() {
 		keyPath = sbi.Tls.Key
 	}
 
-	context.InitSmfContext(&factory.SmfConfig)
+	smf_context.InitSmfContext(&factory.SmfConfig)
 	// allocate id for each upf
-	context.AllocateUPFID()
-	context.InitSMFUERouting(&factory.UERoutingConfig)
+	smf_context.AllocateUPFID()
+	smf_context.InitSMFUERouting(&factory.UERoutingConfig)
 
 	logger.InitLog.Infoln("Server started")
 	router := logger_util.NewGinWithLogrus(logger.GinLog)
@@ -266,21 +266,15 @@ func (smf *SMF) Start() {
 	}
 	udp.Run(pfcp.Dispatch)
 
-	for _, upf := range context.SMF_Self().UserPlaneInformation.UPFs {
-		var upfStr string
-		if upf.NodeID.NodeIdType == pfcpType.NodeIdTypeFqdn {
-			upfStr = fmt.Sprintf("[%s](%s)", upf.NodeID.FQDN, upf.NodeID.ResolveNodeIdToIp().String())
-		} else {
-			upfStr = fmt.Sprintf("[%s]", upf.NodeID.IP.String())
-		}
-		if err = setupPfcpAssociation(upf.UPF, upfStr); err != nil {
-			logger.AppLog.Errorf("Failed to setup an association with UPF%s, error:%+v", upfStr, err)
-		}
+	ctx, cancel := context.WithCancel(context.Background())
+	smf_context.SMF_Self().PFCPCancelFunc = cancel
+	for _, upNode := range smf_context.SMF_Self().UserPlaneInformation.UPFs {
+		go toBeAssociatedWithUPF(ctx, upNode.UPF)
 	}
 
 	time.Sleep(1000 * time.Millisecond)
 
-	HTTPAddr := fmt.Sprintf("%s:%d", context.SMF_Self().BindingIPv4, context.SMF_Self().SBIPort)
+	HTTPAddr := fmt.Sprintf("%s:%d", smf_context.SMF_Self().BindingIPv4, smf_context.SMF_Self().SBIPort)
 	server, err := httpwrapper.NewHttp2Server(HTTPAddr, smf.KeyLogPath, router)
 
 	if server == nil {