diff --git a/os/net/routing/rpl-lite/rpl-neighbor.c b/os/net/routing/rpl-lite/rpl-neighbor.c
index 8afa2440f..bd0632778 100644
--- a/os/net/routing/rpl-lite/rpl-neighbor.c
+++ b/os/net/routing/rpl-lite/rpl-neighbor.c
@@ -368,6 +368,8 @@ rpl_neighbor_select_best(void)
 #if RPL_WITH_PROBING
   if(best != NULL) {
     if(rpl_neighbor_is_fresh(best)) {
+      /* Unschedule any already scheduled urgent probing */
+      curr_instance.dag.urgent_probing_target = NULL;
       /* Return best if it is fresh */
       return best;
     } else {
@@ -380,7 +382,7 @@ rpl_neighbor_select_best(void)
         LOG_WARN_6ADDR(rpl_neighbor_get_ipaddr(best));
         LOG_WARN_("\n");
         curr_instance.dag.urgent_probing_target = best;
-        rpl_schedule_probing();
+        rpl_schedule_probing_now();
       }
 
       /* The best is our preferred parent. It is not fresh but used to be,
diff --git a/os/net/routing/rpl-lite/rpl-timers.c b/os/net/routing/rpl-lite/rpl-timers.c
index 5b4ab8faa..6fb00ca17 100644
--- a/os/net/routing/rpl-lite/rpl-timers.c
+++ b/os/net/routing/rpl-lite/rpl-timers.c
@@ -342,13 +342,7 @@ handle_dao_ack_timer(void *ptr)
 clock_time_t
 get_probing_delay(void)
 {
-  if(curr_instance.used && curr_instance.dag.urgent_probing_target != NULL) {
-    /* Urgent probing needed (to find out if a neighbor may become preferred parent) */
-    return random_rand() % (CLOCK_SECOND * 4);
-  } else {
-    /* Else, use normal probing interval */
-    return ((RPL_PROBING_INTERVAL) / 2) + random_rand() % (RPL_PROBING_INTERVAL);
-  }
+  return ((RPL_PROBING_INTERVAL) / 2) + random_rand() % (RPL_PROBING_INTERVAL);
 }
 /*---------------------------------------------------------------------------*/
 rpl_nbr_t *
@@ -440,7 +434,7 @@ handle_probing_timer(void *ptr)
         );
     /* Send probe, e.g. unicast DIO or DIS */
     RPL_PROBING_SEND_FUNC(target_ipaddr);
-    curr_instance.dag.urgent_probing_target = NULL;
+    /* urgent_probing_target will be NULLed in the packet_sent callback */
   } else {
     LOG_INFO("no neighbor needs probing\n");
   }
@@ -457,6 +451,15 @@ rpl_schedule_probing(void)
                   handle_probing_timer, NULL);
   }
 }
+/*---------------------------------------------------------------------------*/
+void
+rpl_schedule_probing_now(void)
+{
+  if(curr_instance.used) {
+    ctimer_set(&curr_instance.dag.probing_timer,
+      random_rand() % (CLOCK_SECOND * 4), handle_probing_timer, NULL);
+  }
+}
 #endif /* RPL_WITH_PROBING */
 /*---------------------------------------------------------------------------*/
 /*------------------------------- Leaving-- -------------------------------- */
diff --git a/os/net/routing/rpl-lite/rpl-timers.h b/os/net/routing/rpl-lite/rpl-timers.h
index 884a55696..e153858fc 100644
--- a/os/net/routing/rpl-lite/rpl-timers.h
+++ b/os/net/routing/rpl-lite/rpl-timers.h
@@ -104,6 +104,11 @@ void rpl_timers_schedule_dao_ack(uip_ipaddr_t *target, uint16_t sequence);
 */
 void rpl_schedule_probing(void);
 
+/**
+ * Schedule probing within a few seconds
+*/
+void rpl_schedule_probing_now(void);
+
 /**
  * Schedule a state update ASAP. Useful to force an update from a context
  * where updating directly would be unsafe.
diff --git a/os/net/routing/rpl-lite/rpl.c b/os/net/routing/rpl-lite/rpl.c
index fd93b40e8..47ffc5387 100644
--- a/os/net/routing/rpl-lite/rpl.c
+++ b/os/net/routing/rpl-lite/rpl.c
@@ -99,6 +99,11 @@ rpl_link_callback(const linkaddr_t *addr, int status, int numtx)
   if(curr_instance.used == 1 ) {
     rpl_nbr_t *nbr = rpl_neighbor_get_from_lladdr((uip_lladdr_t *)addr);
     if(nbr != NULL) {
+      /* If this is the neighbor we were probing urgently, mark urgent
+      probing as done */
+      if(curr_instance.dag.urgent_probing_target == nbr) {
+        curr_instance.dag.urgent_probing_target = NULL;
+      }
       /* Link stats were updated, and we need to update our internal state.
       Updating from here is unsafe; postpone */
       LOG_INFO("packet sent to ");