diff --git a/res/values/strings.xml b/res/values/strings.xml
index c77edb41a48..b00a1f56edd 100644
--- a/res/values/strings.xml
+++ b/res/values/strings.xml
@@ -1446,6 +1446,9 @@
     <!-- Title for the dialog to enter PIN. [CHAR LIMIT=40] -->
     <string name="bluetooth_pairing_request">Pair with <xliff:g id="device_name">%1$s</xliff:g>?</string>
 
+    <!-- Message when a bluetooth device from a coordinated set is bonding late. [CHAR LIMIT=NONE] -->
+    <string name="bluetooth_pairing_group_late_bonding">Add new member to the existing coordinated set</string>
+
     <!-- Message when bluetooth is informing the user of the pairing key. [CHAR LIMIT=NONE] -->
     <string name="bluetooth_pairing_key_msg">Bluetooth pairing code</string>
 
diff --git a/src/com/android/settings/bluetooth/BluetoothPairingController.java b/src/com/android/settings/bluetooth/BluetoothPairingController.java
index 535e04086c0..f75d301ad22 100644
--- a/src/com/android/settings/bluetooth/BluetoothPairingController.java
+++ b/src/com/android/settings/bluetooth/BluetoothPairingController.java
@@ -72,6 +72,7 @@ public class BluetoothPairingController implements OnCheckedChangeListener,
     private boolean mIsCoordinatedSetMember;
     private boolean mIsLeAudio;
     private boolean mIsLeContactSharingEnabled;
+    private boolean mIsLateBonding;
 
     /**
      * Creates an instance of a BluetoothPairingController.
@@ -98,6 +99,7 @@ public class BluetoothPairingController implements OnCheckedChangeListener,
         mDeviceName = mBluetoothManager.getCachedDeviceManager().getName(mDevice);
         mPbapClientProfile = mBluetoothManager.getProfileManager().getPbapClientProfile();
         mPasskeyFormatted = formatKey(mPasskey);
+        mIsLateBonding = mBluetoothManager.getCachedDeviceManager().isLateBonding(mDevice);
 
         final CachedBluetoothDevice cachedDevice =
                 mBluetoothManager.getCachedDeviceManager().findDevice(mDevice);
@@ -116,7 +118,10 @@ public class BluetoothPairingController implements OnCheckedChangeListener,
 
             mIsLeContactSharingEnabled = DeviceConfig.getBoolean(DeviceConfig.NAMESPACE_SETTINGS_UI,
                     SettingsUIDeviceConfig.BT_LE_AUDIO_CONTACT_SHARING_ENABLED, true);
-            Log.d(TAG, "BT_LE_AUDIO_CONTACT_SHARING_ENABLED is " + mIsLeContactSharingEnabled);
+            Log.d(TAG,
+                "BT_LE_AUDIO_CONTACT_SHARING_ENABLED is "
+                    + mIsLeContactSharingEnabled + " isCooridnatedSetMember "
+                    + mIsCoordinatedSetMember);
         }
     }
 
@@ -192,6 +197,15 @@ public class BluetoothPairingController implements OnCheckedChangeListener,
         return mIsCoordinatedSetMember;
     }
 
+    /**
+     * A method for querying if the bluetooth device from a coordinated set is bonding late.
+     *
+     * @return - A boolean indicating if the device is bonding late.
+     */
+    public boolean isLateBonding() {
+        return mIsLateBonding;
+    }
+
     /**
      * A method for querying if the bluetooth device has a profile already set up on this device.
      *
diff --git a/src/com/android/settings/bluetooth/BluetoothPairingDialogFragment.java b/src/com/android/settings/bluetooth/BluetoothPairingDialogFragment.java
index ad38fa1296b..3d6a44fb58b 100644
--- a/src/com/android/settings/bluetooth/BluetoothPairingDialogFragment.java
+++ b/src/com/android/settings/bluetooth/BluetoothPairingDialogFragment.java
@@ -357,6 +357,10 @@ public class BluetoothPairingDialogFragment extends InstrumentedDialogFragment i
             pairingViewContent.setText(mPairingController.getPairingContent());
         }
         final TextView messagePairingSet = (TextView) view.findViewById(R.id.pairing_group_message);
+        if (mPairingController.isLateBonding()) {
+            messagePairingSet.setText(getString(R.string.bluetooth_pairing_group_late_bonding));
+        }
+
         messagePairingSet.setVisibility(mPairingController.isCoordinatedSetMemberDevice()
                 ? View.VISIBLE : View.GONE);
         return view;
diff --git a/src/com/android/settings/bluetooth/BluetoothPairingRequest.java b/src/com/android/settings/bluetooth/BluetoothPairingRequest.java
index ed477c84602..ace0643ee7b 100644
--- a/src/com/android/settings/bluetooth/BluetoothPairingRequest.java
+++ b/src/com/android/settings/bluetooth/BluetoothPairingRequest.java
@@ -26,6 +26,7 @@ import android.os.UserHandle;
 import android.text.TextUtils;
 import android.util.Log;
 
+import com.android.settingslib.bluetooth.CachedBluetoothDevice;
 import com.android.settingslib.bluetooth.LocalBluetoothManager;
 
 /**
@@ -53,17 +54,28 @@ public final class BluetoothPairingRequest extends BroadcastReceiver {
             boolean shouldShowDialog = LocalBluetoothPreferences.shouldShowDialogInForeground(
                     context, device);
 
-            // Skips consent pairing dialog if the device was recently associated with CDM
+            Log.d(TAG,
+                "Receive ACTION_PAIRING_REQUEST pairingVariant=" + pairingVariant
+                    + " canBondWithoutDialog=" + device.canBondWithoutDialog()
+                    + " isOngoingPairByCsip="
+                    + mBluetoothManager.getCachedDeviceManager().isOngoingPairByCsip(device)
+                    + " isLateBonding="
+                    + mBluetoothManager.getCachedDeviceManager().isLateBonding(device));
+
+            /* Skips consent pairing dialog if the device was recently associated with CDM
+             * or if the device is a member of the coordinated set and is not bonding late.
+             */
             if (pairingVariant == BluetoothDevice.PAIRING_VARIANT_CONSENT
-                    && (device.canBondWithoutDialog()
-                    || mBluetoothManager.getCachedDeviceManager().isOngoingPairByCsip(device))) {
+                && (device.canBondWithoutDialog()
+                    || (mBluetoothManager.getCachedDeviceManager().isOngoingPairByCsip(device)
+                        && !mBluetoothManager.getCachedDeviceManager().isLateBonding(device)))) {
                 device.setPairingConfirmation(true);
             } else if (powerManager.isInteractive() && shouldShowDialog) {
                 // Since the screen is on and the BT-related activity is in the foreground,
                 // just open the dialog
                 // convert broadcast intent into activity intent (same action string)
-                Intent pairingIntent = BluetoothPairingService.getPairingDialogIntent(context,
-                        intent, BluetoothDevice.EXTRA_PAIRING_INITIATOR_FOREGROUND);
+                Intent pairingIntent = BluetoothPairingService.getPairingDialogIntent(
+                    context, intent, BluetoothDevice.EXTRA_PAIRING_INITIATOR_FOREGROUND);
 
                 context.startActivityAsUser(pairingIntent, UserHandle.CURRENT);
             } else {