diff --git a/src/os/signal/signal_test.go b/src/os/signal/signal_test.go
index d50e595d84..7aa3d7805b 100644
--- a/src/os/signal/signal_test.go
+++ b/src/os/signal/signal_test.go
@@ -469,3 +469,52 @@ func atomicStopTestProgram() {
 
 	os.Exit(0)
 }
+
+func TestTime(t *testing.T) {
+	// Test that signal works fine when we are in a call to get time,
+	// which on some platforms is using VDSO. See issue #34391.
+	dur := 3 * time.Second
+	if testing.Short() {
+		dur = 100 * time.Millisecond
+	}
+	defer runtime.GOMAXPROCS(runtime.GOMAXPROCS(4))
+	done := make(chan bool)
+	finished := make(chan bool)
+	go func() {
+		sig := make(chan os.Signal, 1)
+		Notify(sig, syscall.SIGUSR1)
+		defer Stop(sig)
+	Loop:
+		for {
+			select {
+			case <-sig:
+			case <-done:
+				break Loop
+			}
+		}
+		finished <- true
+	}()
+	go func() {
+	Loop:
+		for {
+			select {
+			case <-done:
+				break Loop
+			default:
+				syscall.Kill(syscall.Getpid(), syscall.SIGUSR1)
+				runtime.Gosched()
+			}
+		}
+		finished <- true
+	}()
+	t0 := time.Now()
+	for t1 := t0; t1.Sub(t0) < dur; t1 = time.Now() {
+	} // hammering on getting time
+	close(done)
+	<-finished
+	<-finished
+	// When run with 'go test -cpu=1,2,4' SIGUSR1 from this test can slip
+	// into subsequent TestSignal() causing failure.
+	// Sleep for a while to reduce the possibility of the failure.
+	time.Sleep(10 * time.Millisecond)
+}
diff --git a/src/runtime/proc.go b/src/runtime/proc.go
index 7d2ff2748b..4814a5fc87 100644
--- a/src/runtime/proc.go
+++ b/src/runtime/proc.go
@@ -3420,6 +3420,9 @@ func malg(stacksize int32) *g {
 		})
 		newg.stackguard0 = newg.stack.lo + _StackGuard
 		newg.stackguard1 = ^uintptr(0)
+		// Clear the bottom word of the stack. We record g
+		// there on gsignal stack during VDSO on ARM and ARM64.
+		*(*uintptr)(unsafe.Pointer(newg.stack.lo)) = 0
 	}
 	return newg
 }
diff --git a/src/runtime/signal_unix.go b/src/runtime/signal_unix.go
index d5a04b6d48..cea65282e0 100644
--- a/src/runtime/signal_unix.go
+++ b/src/runtime/signal_unix.go
@@ -299,6 +299,16 @@ func sigFetchG(c *sigctxt) *g {
 	switch GOARCH {
 	case "arm", "arm64":
 		if inVDSOPage(c.sigpc()) {
+			// Before making a VDSO call we save the g to the bottom of the
+			// signal stack. Fetch from there.
+			// TODO: in efence mode, stack is sysAlloc'd, so this wouldn't
+			// work.
+			sp := getcallersp()
+			s := spanOf(sp)
+			if s != nil && s.state == mSpanManual && s.base() < sp && sp < s.limit {
+				gp := *(**g)(unsafe.Pointer(s.base()))
+				return gp
+			}
 			return nil
 		}
 	}
diff --git a/src/runtime/sys_linux_arm.s b/src/runtime/sys_linux_arm.s
index 23a66554ab..9a9e1c92c7 100644
--- a/src/runtime/sys_linux_arm.s
+++ b/src/runtime/sys_linux_arm.s
@@ -259,7 +259,23 @@ noswitch:
 	CMP	$0, R11
 	B.EQ	fallback
 
+	// Store g on gsignal's stack, so if we receive a signal
+	// during VDSO code we can find the g.
+	// If we don't have a signal stack, we won't receive signal,
+	// so don't bother saving g.
+	MOVW	m_gsignal(R5), R6          // g.m.gsignal
+	CMP	$0, R6
+	BEQ	3(PC)
+	MOVW	(g_stack+stack_lo)(R6), R6 // g.m.gsignal.stack.lo
+	MOVW	g, (R6)
+
 	BL	(R11)
+
+	CMP	$0, R6   // R6 is unchanged by C code
+	BEQ	3(PC)
+	MOVW	$0, R1
+	MOVW	R1, (R6) // clear g slot
+
 	JMP	finish
 
 fallback:
@@ -310,7 +326,23 @@ noswitch:
 	CMP	$0, R11
 	B.EQ	fallback
 
+	// Store g on gsignal's stack, so if we receive a signal
+	// during VDSO code we can find the g.
+	// If we don't have a signal stack, we won't receive signal,
+	// so don't bother saving g.
+	MOVW	m_gsignal(R5), R6          // g.m.gsignal
+	CMP	$0, R6
+	BEQ	3(PC)
+	MOVW	(g_stack+stack_lo)(R6), R6 // g.m.gsignal.stack.lo
+	MOVW	g, (R6)
+
 	BL	(R11)
+
+	CMP	$0, R6   // R6 is unchanged by C code
+	BEQ	3(PC)
+	MOVW	$0, R1
+	MOVW	R1, (R6) // clear g slot
+
 	JMP	finish
 
 fallback:
diff --git a/src/runtime/sys_linux_arm64.s b/src/runtime/sys_linux_arm64.s
index 5514a6be62..a77be98739 100644
--- a/src/runtime/sys_linux_arm64.s
+++ b/src/runtime/sys_linux_arm64.s
@@ -218,7 +218,21 @@ noswitch:
 	MOVW	$CLOCK_REALTIME, R0
 	MOVD	runtime·vdsoClockgettimeSym(SB), R2
 	CBZ	R2, fallback
+
+	// Store g on gsignal's stack, so if we receive a signal
+	// during VDSO code we can find the g.
+	// If we don't have a signal stack, we won't receive signal,
+	// so don't bother saving g.
+	MOVD	m_gsignal(R21), R22          // g.m.gsignal
+	CBZ	R22, 3(PC)
+	MOVD	(g_stack+stack_lo)(R22), R22 // g.m.gsignal.stack.lo
+	MOVD	g, (R22)
+
 	BL	(R2)
+
+	CBZ	R22, 2(PC) // R22 is unchanged by C code
+	MOVD	ZR, (R22)  // clear g slot
+
 	B	finish
 
 fallback:
@@ -261,7 +275,21 @@ noswitch:
 	MOVW	$CLOCK_MONOTONIC, R0
 	MOVD	runtime·vdsoClockgettimeSym(SB), R2
 	CBZ	R2, fallback
+
+	// Store g on gsignal's stack, so if we receive a signal
+	// during VDSO code we can find the g.
+	// If we don't have a signal stack, we won't receive signal,
+	// so don't bother saving g.
+	MOVD	m_gsignal(R21), R22          // g.m.gsignal
+	CBZ	R22, 3(PC)
+	MOVD	(g_stack+stack_lo)(R22), R22 // g.m.gsignal.stack.lo
+	MOVD	g, (R22)
+
 	BL	(R2)
+
+	CBZ	R22, 2(PC) // R22 is unchanged by C code
+	MOVD	ZR, (R22)  // clear g slot
+
 	B	finish
 
 fallback: