diff --git a/Documentation/bpf/kfuncs.rst b/Documentation/bpf/kfuncs.rst
index bf1b859414527a754a7bbda9600b6adf31a054ef..d8a16c4bef7f09eb9f68ada6b10e91858994cb92 100644
--- a/Documentation/bpf/kfuncs.rst
+++ b/Documentation/bpf/kfuncs.rst
@@ -471,13 +471,50 @@ struct_ops callback arg. For example:
 		struct task_struct *acquired;
 
 		acquired = bpf_task_acquire(task);
+		if (acquired)
+			/*
+			 * In a typical program you'd do something like store
+			 * the task in a map, and the map will automatically
+			 * release it later. Here, we release it manually.
+			 */
+			bpf_task_release(acquired);
+		return 0;
+	}
+
+
+References acquired on ``struct task_struct *`` objects are RCU protected.
+Therefore, when in an RCU read region, you can obtain a pointer to a task
+embedded in a map value without having to acquire a reference:
+
+.. code-block:: c
+
+	#define private(name) SEC(".data." #name) __hidden __attribute__((aligned(8)))
+	private(TASK) static struct task_struct *global;
+
+	/**
+	 * A trivial example showing how to access a task stored
+	 * in a map using RCU.
+	 */
+	SEC("tp_btf/task_newtask")
+	int BPF_PROG(task_rcu_read_example, struct task_struct *task, u64 clone_flags)
+	{
+		struct task_struct *local_copy;
+
+		bpf_rcu_read_lock();
+		local_copy = global;
+		if (local_copy)
+			/*
+			 * We could also pass local_copy to kfuncs or helper functions here,
+			 * as we're guaranteed that local_copy will be valid until we exit
+			 * the RCU read region below.
+			 */
+			bpf_printk("Global task %s is valid", local_copy->comm);
+		else
+			bpf_printk("No global task found");
+		bpf_rcu_read_unlock();
+
+		/* At this point we can no longer reference local_copy. */
 
-		/*
-		 * In a typical program you'd do something like store
-		 * the task in a map, and the map will automatically
-		 * release it later. Here, we release it manually.
-		 */
-		bpf_task_release(acquired);
 		return 0;
 	}
 
diff --git a/kernel/bpf/helpers.c b/kernel/bpf/helpers.c
index 8980f6859443a0d71d4ef050c630dae2edd792e1..6be16db9f1882c6146a0e206c8f379a182f83fc0 100644
--- a/kernel/bpf/helpers.c
+++ b/kernel/bpf/helpers.c
@@ -18,6 +18,7 @@
 #include <linux/pid_namespace.h>
 #include <linux/poison.h>
 #include <linux/proc_ns.h>
+#include <linux/sched/task.h>
 #include <linux/security.h>
 #include <linux/btf_ids.h>
 #include <linux/bpf_mem_alloc.h>
@@ -2013,73 +2014,8 @@ __bpf_kfunc struct bpf_rb_node *bpf_rbtree_first(struct bpf_rb_root *root)
  */
 __bpf_kfunc struct task_struct *bpf_task_acquire(struct task_struct *p)
 {
-	return get_task_struct(p);
-}
-
-/**
- * bpf_task_acquire_not_zero - Acquire a reference to a rcu task object. A task
- * acquired by this kfunc which is not stored in a map as a kptr, must be
- * released by calling bpf_task_release().
- * @p: The task on which a reference is being acquired.
- */
-__bpf_kfunc struct task_struct *bpf_task_acquire_not_zero(struct task_struct *p)
-{
-	/* For the time being this function returns NULL, as it's not currently
-	 * possible to safely acquire a reference to a task with RCU protection
-	 * using get_task_struct() and put_task_struct(). This is due to the
-	 * slightly odd mechanics of p->rcu_users, and how task RCU protection
-	 * works.
-	 *
-	 * A struct task_struct is refcounted by two different refcount_t
-	 * fields:
-	 *
-	 * 1. p->usage:     The "true" refcount field which tracks a task's
-	 *		    lifetime. The task is freed as soon as this
-	 *		    refcount drops to 0.
-	 *
-	 * 2. p->rcu_users: An "RCU users" refcount field which is statically
-	 *		    initialized to 2, and is co-located in a union with
-	 *		    a struct rcu_head field (p->rcu). p->rcu_users
-	 *		    essentially encapsulates a single p->usage
-	 *		    refcount, and when p->rcu_users goes to 0, an RCU
-	 *		    callback is scheduled on the struct rcu_head which
-	 *		    decrements the p->usage refcount.
-	 *
-	 * There are two important implications to this task refcounting logic
-	 * described above. The first is that
-	 * refcount_inc_not_zero(&p->rcu_users) cannot be used anywhere, as
-	 * after the refcount goes to 0, the RCU callback being scheduled will
-	 * cause the memory backing the refcount to again be nonzero due to the
-	 * fields sharing a union. The other is that we can't rely on RCU to
-	 * guarantee that a task is valid in a BPF program. This is because a
-	 * task could have already transitioned to being in the TASK_DEAD
-	 * state, had its rcu_users refcount go to 0, and its rcu callback
-	 * invoked in which it drops its single p->usage reference. At this
-	 * point the task will be freed as soon as the last p->usage reference
-	 * goes to 0, without waiting for another RCU gp to elapse. The only
-	 * way that a BPF program can guarantee that a task is valid is in this
-	 * scenario is to hold a p->usage refcount itself.
-	 *
-	 * Until we're able to resolve this issue, either by pulling
-	 * p->rcu_users and p->rcu out of the union, or by getting rid of
-	 * p->usage and just using p->rcu_users for refcounting, we'll just
-	 * return NULL here.
-	 */
-	return NULL;
-}
-
-/**
- * bpf_task_kptr_get - Acquire a reference on a struct task_struct kptr. A task
- * kptr acquired by this kfunc which is not subsequently stored in a map, must
- * be released by calling bpf_task_release().
- * @pp: A pointer to a task kptr on which a reference is being acquired.
- */
-__bpf_kfunc struct task_struct *bpf_task_kptr_get(struct task_struct **pp)
-{
-	/* We must return NULL here until we have clarity on how to properly
-	 * leverage RCU for ensuring a task's lifetime. See the comment above
-	 * in bpf_task_acquire_not_zero() for more details.
-	 */
+	if (refcount_inc_not_zero(&p->rcu_users))
+		return p;
 	return NULL;
 }
 
@@ -2089,7 +2025,7 @@ __bpf_kfunc struct task_struct *bpf_task_kptr_get(struct task_struct **pp)
  */
 __bpf_kfunc void bpf_task_release(struct task_struct *p)
 {
-	put_task_struct(p);
+	put_task_struct_rcu_user(p);
 }
 
 #ifdef CONFIG_CGROUPS
@@ -2199,7 +2135,7 @@ __bpf_kfunc struct task_struct *bpf_task_from_pid(s32 pid)
 	rcu_read_lock();
 	p = find_task_by_pid_ns(pid, &init_pid_ns);
 	if (p)
-		bpf_task_acquire(p);
+		p = bpf_task_acquire(p);
 	rcu_read_unlock();
 
 	return p;
@@ -2371,9 +2307,7 @@ BTF_ID_FLAGS(func, bpf_list_push_front)
 BTF_ID_FLAGS(func, bpf_list_push_back)
 BTF_ID_FLAGS(func, bpf_list_pop_front, KF_ACQUIRE | KF_RET_NULL)
 BTF_ID_FLAGS(func, bpf_list_pop_back, KF_ACQUIRE | KF_RET_NULL)
-BTF_ID_FLAGS(func, bpf_task_acquire, KF_ACQUIRE | KF_TRUSTED_ARGS)
-BTF_ID_FLAGS(func, bpf_task_acquire_not_zero, KF_ACQUIRE | KF_RCU | KF_RET_NULL)
-BTF_ID_FLAGS(func, bpf_task_kptr_get, KF_ACQUIRE | KF_KPTR_GET | KF_RET_NULL)
+BTF_ID_FLAGS(func, bpf_task_acquire, KF_ACQUIRE | KF_RCU | KF_RET_NULL)
 BTF_ID_FLAGS(func, bpf_task_release, KF_RELEASE)
 BTF_ID_FLAGS(func, bpf_rbtree_remove, KF_ACQUIRE)
 BTF_ID_FLAGS(func, bpf_rbtree_add)
diff --git a/kernel/bpf/verifier.c b/kernel/bpf/verifier.c
index 52738f9dcb157be8657efb83c4f0463584a2d890..92ae4e8ab87b8caa0a4dbdf9f8b0f204631c5ed3 100644
--- a/kernel/bpf/verifier.c
+++ b/kernel/bpf/verifier.c
@@ -4600,6 +4600,7 @@ BTF_SET_START(rcu_protected_types)
 BTF_ID(struct, prog_test_ref_kfunc)
 BTF_ID(struct, cgroup)
 BTF_ID(struct, bpf_cpumask)
+BTF_ID(struct, task_struct)
 BTF_SET_END(rcu_protected_types)
 
 static bool rcu_protected_object(const struct btf *btf, u32 btf_id)
diff --git a/tools/testing/selftests/bpf/prog_tests/task_kfunc.c b/tools/testing/selftests/bpf/prog_tests/task_kfunc.c
index f79fa5bc9a8d68ad8c0311fa9121c659d9ddc591..740d5f644b407d4299e087238227086d5058abc0 100644
--- a/tools/testing/selftests/bpf/prog_tests/task_kfunc.c
+++ b/tools/testing/selftests/bpf/prog_tests/task_kfunc.c
@@ -73,11 +73,12 @@ static const char * const success_tests[] = {
 	"test_task_acquire_release_current",
 	"test_task_acquire_leave_in_map",
 	"test_task_xchg_release",
-	"test_task_get_release",
+	"test_task_map_acquire_release",
 	"test_task_current_acquire_release",
 	"test_task_from_pid_arg",
 	"test_task_from_pid_current",
 	"test_task_from_pid_invalid",
+	"task_kfunc_acquire_trusted_walked",
 };
 
 void test_task_kfunc(void)
diff --git a/tools/testing/selftests/bpf/progs/rcu_read_lock.c b/tools/testing/selftests/bpf/progs/rcu_read_lock.c
index 6a8c88e58df24a2c3ef6888422a8ffac3c154ff6..14fb01437fb8db7b88264370aafe995139ef3f57 100644
--- a/tools/testing/selftests/bpf/progs/rcu_read_lock.c
+++ b/tools/testing/selftests/bpf/progs/rcu_read_lock.c
@@ -23,7 +23,7 @@ struct bpf_key *bpf_lookup_user_key(__u32 serial, __u64 flags) __ksym;
 void bpf_key_put(struct bpf_key *key) __ksym;
 void bpf_rcu_read_lock(void) __ksym;
 void bpf_rcu_read_unlock(void) __ksym;
-struct task_struct *bpf_task_acquire_not_zero(struct task_struct *p) __ksym;
+struct task_struct *bpf_task_acquire(struct task_struct *p) __ksym;
 void bpf_task_release(struct task_struct *p) __ksym;
 
 SEC("?fentry.s/" SYS_PREFIX "sys_getpgid")
@@ -159,13 +159,8 @@ int task_acquire(void *ctx)
 		goto out;
 
 	/* acquire a reference which can be used outside rcu read lock region */
-	gparent = bpf_task_acquire_not_zero(gparent);
+	gparent = bpf_task_acquire(gparent);
 	if (!gparent)
-		/* Until we resolve the issues with using task->rcu_users, we
-		 * expect bpf_task_acquire_not_zero() to return a NULL task.
-		 * See the comment at the definition of
-		 * bpf_task_acquire_not_zero() for more details.
-		 */
 		goto out;
 
 	(void)bpf_task_storage_get(&map_a, gparent, 0, 0);
diff --git a/tools/testing/selftests/bpf/progs/task_kfunc_common.h b/tools/testing/selftests/bpf/progs/task_kfunc_common.h
index 4c2a4b0e3a251f13cf74100122417e7897e4cd81..41f2d44f49cbbca0ad56c40894e6cfa4bafdad8c 100644
--- a/tools/testing/selftests/bpf/progs/task_kfunc_common.h
+++ b/tools/testing/selftests/bpf/progs/task_kfunc_common.h
@@ -21,9 +21,10 @@ struct hash_map {
 } __tasks_kfunc_map SEC(".maps");
 
 struct task_struct *bpf_task_acquire(struct task_struct *p) __ksym;
-struct task_struct *bpf_task_kptr_get(struct task_struct **pp) __ksym;
 void bpf_task_release(struct task_struct *p) __ksym;
 struct task_struct *bpf_task_from_pid(s32 pid) __ksym;
+void bpf_rcu_read_lock(void) __ksym;
+void bpf_rcu_read_unlock(void) __ksym;
 
 static inline struct __tasks_kfunc_map_value *tasks_kfunc_map_value_lookup(struct task_struct *p)
 {
@@ -60,6 +61,9 @@ static inline int tasks_kfunc_map_insert(struct task_struct *p)
 	}
 
 	acquired = bpf_task_acquire(p);
+	if (!acquired)
+		return -ENOENT;
+
 	old = bpf_kptr_xchg(&v->task, acquired);
 	if (old) {
 		bpf_task_release(old);
diff --git a/tools/testing/selftests/bpf/progs/task_kfunc_failure.c b/tools/testing/selftests/bpf/progs/task_kfunc_failure.c
index 2c374a7ffece8ef759d058fab5bc4c1f76503a4a..dcdea312708633f74546f235693abe78d5019f40 100644
--- a/tools/testing/selftests/bpf/progs/task_kfunc_failure.c
+++ b/tools/testing/selftests/bpf/progs/task_kfunc_failure.c
@@ -40,6 +40,9 @@ int BPF_PROG(task_kfunc_acquire_untrusted, struct task_struct *task, u64 clone_f
 
 	/* Can't invoke bpf_task_acquire() on an untrusted pointer. */
 	acquired = bpf_task_acquire(v->task);
+	if (!acquired)
+		return 0;
+
 	bpf_task_release(acquired);
 
 	return 0;
@@ -53,38 +56,49 @@ int BPF_PROG(task_kfunc_acquire_fp, struct task_struct *task, u64 clone_flags)
 
 	/* Can't invoke bpf_task_acquire() on a random frame pointer. */
 	acquired = bpf_task_acquire((struct task_struct *)&stack_task);
+	if (!acquired)
+		return 0;
+
 	bpf_task_release(acquired);
 
 	return 0;
 }
 
 SEC("kretprobe/free_task")
-__failure __msg("reg type unsupported for arg#0 function")
+__failure __msg("calling kernel function bpf_task_acquire is not allowed")
 int BPF_PROG(task_kfunc_acquire_unsafe_kretprobe, struct task_struct *task, u64 clone_flags)
 {
 	struct task_struct *acquired;
 
+	/* Can't call bpf_task_acquire() or bpf_task_release() in an untrusted prog. */
 	acquired = bpf_task_acquire(task);
-	/* Can't release a bpf_task_acquire()'d task without a NULL check. */
+	if (!acquired)
+		return 0;
 	bpf_task_release(acquired);
 
 	return 0;
 }
 
-SEC("tp_btf/task_newtask")
-__failure __msg("R1 must be referenced or trusted")
-int BPF_PROG(task_kfunc_acquire_trusted_walked, struct task_struct *task, u64 clone_flags)
+SEC("kretprobe/free_task")
+__failure __msg("calling kernel function bpf_task_acquire is not allowed")
+int BPF_PROG(task_kfunc_acquire_unsafe_kretprobe_rcu, struct task_struct *task, u64 clone_flags)
 {
 	struct task_struct *acquired;
 
-	/* Can't invoke bpf_task_acquire() on a trusted pointer obtained from walking a struct. */
-	acquired = bpf_task_acquire(task->group_leader);
-	bpf_task_release(acquired);
+	bpf_rcu_read_lock();
+	if (!task) {
+		bpf_rcu_read_unlock();
+		return 0;
+	}
+	/* Can't call bpf_task_acquire() or bpf_task_release() in an untrusted prog. */
+	acquired = bpf_task_acquire(task);
+	if (acquired)
+		bpf_task_release(acquired);
+	bpf_rcu_read_unlock();
 
 	return 0;
 }
 
-
 SEC("tp_btf/task_newtask")
 __failure __msg("Possibly NULL pointer passed to trusted arg0")
 int BPF_PROG(task_kfunc_acquire_null, struct task_struct *task, u64 clone_flags)
@@ -114,57 +128,6 @@ int BPF_PROG(task_kfunc_acquire_unreleased, struct task_struct *task, u64 clone_
 	return 0;
 }
 
-SEC("tp_btf/task_newtask")
-__failure __msg("arg#0 expected pointer to map value")
-int BPF_PROG(task_kfunc_get_non_kptr_param, struct task_struct *task, u64 clone_flags)
-{
-	struct task_struct *kptr;
-
-	/* Cannot use bpf_task_kptr_get() on a non-kptr, even on a valid task. */
-	kptr = bpf_task_kptr_get(&task);
-	if (!kptr)
-		return 0;
-
-	bpf_task_release(kptr);
-
-	return 0;
-}
-
-SEC("tp_btf/task_newtask")
-__failure __msg("arg#0 expected pointer to map value")
-int BPF_PROG(task_kfunc_get_non_kptr_acquired, struct task_struct *task, u64 clone_flags)
-{
-	struct task_struct *kptr, *acquired;
-
-	acquired = bpf_task_acquire(task);
-
-	/* Cannot use bpf_task_kptr_get() on a non-kptr, even if it was acquired. */
-	kptr = bpf_task_kptr_get(&acquired);
-	bpf_task_release(acquired);
-	if (!kptr)
-		return 0;
-
-	bpf_task_release(kptr);
-
-	return 0;
-}
-
-SEC("tp_btf/task_newtask")
-__failure __msg("arg#0 expected pointer to map value")
-int BPF_PROG(task_kfunc_get_null, struct task_struct *task, u64 clone_flags)
-{
-	struct task_struct *kptr;
-
-	/* Cannot use bpf_task_kptr_get() on a NULL pointer. */
-	kptr = bpf_task_kptr_get(NULL);
-	if (!kptr)
-		return 0;
-
-	bpf_task_release(kptr);
-
-	return 0;
-}
-
 SEC("tp_btf/task_newtask")
 __failure __msg("Unreleased reference")
 int BPF_PROG(task_kfunc_xchg_unreleased, struct task_struct *task, u64 clone_flags)
@@ -186,21 +149,14 @@ int BPF_PROG(task_kfunc_xchg_unreleased, struct task_struct *task, u64 clone_fla
 }
 
 SEC("tp_btf/task_newtask")
-__failure __msg("Unreleased reference")
-int BPF_PROG(task_kfunc_get_unreleased, struct task_struct *task, u64 clone_flags)
+__failure __msg("Possibly NULL pointer passed to trusted arg0")
+int BPF_PROG(task_kfunc_acquire_release_no_null_check, struct task_struct *task, u64 clone_flags)
 {
-	struct task_struct *kptr;
-	struct __tasks_kfunc_map_value *v;
-
-	v = insert_lookup_task(task);
-	if (!v)
-		return 0;
-
-	kptr = bpf_task_kptr_get(&v->task);
-	if (!kptr)
-		return 0;
+	struct task_struct *acquired;
 
-	/* Kptr acquired above is never released. */
+	acquired = bpf_task_acquire(task);
+	/* Can't invoke bpf_task_release() on an acquired task without a NULL check. */
+	bpf_task_release(acquired);
 
 	return 0;
 }
@@ -256,12 +212,13 @@ int BPF_PROG(task_kfunc_release_null, struct task_struct *task, u64 clone_flags)
 		return -ENOENT;
 
 	acquired = bpf_task_acquire(task);
+	if (!acquired)
+		return -EEXIST;
 
 	old = bpf_kptr_xchg(&v->task, acquired);
 
 	/* old cannot be passed to bpf_task_release() without a NULL check. */
 	bpf_task_release(old);
-	bpf_task_release(old);
 
 	return 0;
 }
@@ -298,6 +255,9 @@ int BPF_PROG(task_kfunc_from_lsm_task_free, struct task_struct *task)
 
 	/* the argument of lsm task_free hook is untrusted. */
 	acquired = bpf_task_acquire(task);
+	if (!acquired)
+		return 0;
+
 	bpf_task_release(acquired);
 	return 0;
 }
@@ -337,3 +297,30 @@ int BPF_PROG(task_access_comm4, struct task_struct *task, const char *buf, bool
 	bpf_strncmp(task->comm, 16, "foo");
 	return 0;
 }
+
+SEC("tp_btf/task_newtask")
+__failure __msg("R1 must be referenced or trusted")
+int BPF_PROG(task_kfunc_release_in_map, struct task_struct *task, u64 clone_flags)
+{
+	struct task_struct *local;
+	struct __tasks_kfunc_map_value *v;
+
+	if (tasks_kfunc_map_insert(task))
+		return 0;
+
+	v = tasks_kfunc_map_value_lookup(task);
+	if (!v)
+		return 0;
+
+	bpf_rcu_read_lock();
+	local = v->task;
+	if (!local) {
+		bpf_rcu_read_unlock();
+		return 0;
+	}
+	/* Can't release a kptr that's still stored in a map. */
+	bpf_task_release(local);
+	bpf_rcu_read_unlock();
+
+	return 0;
+}
diff --git a/tools/testing/selftests/bpf/progs/task_kfunc_success.c b/tools/testing/selftests/bpf/progs/task_kfunc_success.c
index cfa7f12b84e89786d8355f47115dd51e26b9048d..b09371bba204f87961ed5060394338185332c6c7 100644
--- a/tools/testing/selftests/bpf/progs/task_kfunc_success.c
+++ b/tools/testing/selftests/bpf/progs/task_kfunc_success.c
@@ -47,7 +47,10 @@ static int test_acquire_release(struct task_struct *task)
 	}
 
 	acquired = bpf_task_acquire(task);
-	bpf_task_release(acquired);
+	if (acquired)
+		bpf_task_release(acquired);
+	else
+		err = 6;
 
 	return 0;
 }
@@ -119,7 +122,7 @@ int BPF_PROG(test_task_xchg_release, struct task_struct *task, u64 clone_flags)
 }
 
 SEC("tp_btf/task_newtask")
-int BPF_PROG(test_task_get_release, struct task_struct *task, u64 clone_flags)
+int BPF_PROG(test_task_map_acquire_release, struct task_struct *task, u64 clone_flags)
 {
 	struct task_struct *kptr;
 	struct __tasks_kfunc_map_value *v;
@@ -140,18 +143,18 @@ int BPF_PROG(test_task_get_release, struct task_struct *task, u64 clone_flags)
 		return 0;
 	}
 
-	kptr = bpf_task_kptr_get(&v->task);
-	if (kptr) {
-		/* Until we resolve the issues with using task->rcu_users, we
-		 * expect bpf_task_kptr_get() to return a NULL task. See the
-		 * comment at the definition of bpf_task_acquire_not_zero() for
-		 * more details.
-		 */
-		bpf_task_release(kptr);
+	bpf_rcu_read_lock();
+	kptr = v->task;
+	if (!kptr) {
 		err = 3;
-		return 0;
+	} else {
+		kptr = bpf_task_acquire(kptr);
+		if (!kptr)
+			err = 4;
+		else
+			bpf_task_release(kptr);
 	}
-
+	bpf_rcu_read_unlock();
 
 	return 0;
 }
@@ -166,7 +169,10 @@ int BPF_PROG(test_task_current_acquire_release, struct task_struct *task, u64 cl
 
 	current = bpf_get_current_task_btf();
 	acquired = bpf_task_acquire(current);
-	bpf_task_release(acquired);
+	if (acquired)
+		bpf_task_release(acquired);
+	else
+		err = 1;
 
 	return 0;
 }
@@ -241,3 +247,19 @@ int BPF_PROG(test_task_from_pid_invalid, struct task_struct *task, u64 clone_fla
 
 	return 0;
 }
+
+SEC("tp_btf/task_newtask")
+int BPF_PROG(task_kfunc_acquire_trusted_walked, struct task_struct *task, u64 clone_flags)
+{
+	struct task_struct *acquired;
+
+	/* task->group_leader is listed as a trusted, non-NULL field of task struct. */
+	acquired = bpf_task_acquire(task->group_leader);
+	if (acquired)
+		bpf_task_release(acquired);
+	else
+		err = 1;
+
+
+	return 0;
+}