diff --git a/aprsd/threads/aprsd.py b/aprsd/threads/aprsd.py
index 9eebbae..6a84d31 100644
--- a/aprsd/threads/aprsd.py
+++ b/aprsd/threads/aprsd.py
@@ -184,3 +184,15 @@ class APRSDThreadList:
     @wrapt.synchronized(lock)
     def __len__(self):
         return len(self.threads_list)
+
+    @wrapt.synchronized(lock)
+    def join_non_daemon(self, timeout: float = 5.0):
+        """Wait for non-daemon threads to complete gracefully.
+
+        Args:
+            timeout: Maximum seconds to wait per thread.
+        """
+        for th in self.threads_list:
+            if not th.daemon and th.is_alive():
+                LOG.info(f'Waiting for non-daemon thread {th.name} to finish')
+                th.join(timeout=timeout)
diff --git a/tests/threads/test_aprsd_thread.py b/tests/threads/test_aprsd_thread.py
index 5224735..f9c0048 100644
--- a/tests/threads/test_aprsd_thread.py
+++ b/tests/threads/test_aprsd_thread.py
@@ -404,3 +404,51 @@ class TestAPRSDThreadList(unittest.TestCase):
 
         # Should handle concurrent access without errors
         self.assertGreaterEqual(len(thread_list), 0)
+
+    def test_join_non_daemon(self):
+        """Test join_non_daemon() waits for non-daemon threads."""
+
+        class NonDaemonTestThread(APRSDThread):
+            daemon = False
+
+            def __init__(self, name):
+                super().__init__(name)
+                self.finished = False
+
+            def loop(self):
+                time.sleep(0.2)
+                self.finished = True
+                return False
+
+        thread_list = APRSDThreadList()
+        thread = NonDaemonTestThread('NonDaemonJoinTest')
+        thread_list.add(thread)
+        thread.start()
+
+        # Stop triggers the event, thread should finish its loop then exit
+        thread.stop()
+        thread_list.join_non_daemon(timeout=5.0)
+
+        self.assertTrue(thread.finished or not thread.is_alive())
+
+    def test_join_non_daemon_skips_daemon_threads(self):
+        """Test join_non_daemon() does not wait for daemon threads."""
+        thread_list = APRSDThreadList()
+        # Clear existing threads
+        thread_list.threads_list = []
+
+        # Create a daemon thread that loops forever
+        thread = TestThread('DaemonSkipTest', should_loop=True)
+        thread_list.add(thread)
+        thread.start()
+
+        # This should return quickly since it's a daemon thread
+        start = time.time()
+        thread_list.join_non_daemon(timeout=0.1)
+        elapsed = time.time() - start
+
+        self.assertLess(elapsed, 0.5)  # Should not wait for daemon
+
+        # Cleanup
+        thread.stop()
+        thread.join(timeout=1)