diff --git a/oauth2/oauth2-client/src/main/java/org/springframework/security/oauth2/client/RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandler.java b/oauth2/oauth2-client/src/main/java/org/springframework/security/oauth2/client/RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandler.java
index c62b6c41fb..38aff0d049 100644
--- a/oauth2/oauth2-client/src/main/java/org/springframework/security/oauth2/client/RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandler.java
+++ b/oauth2/oauth2-client/src/main/java/org/springframework/security/oauth2/client/RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandler.java
@@ -282,7 +282,12 @@ public final class RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandler
 		if (idToken.getAuthenticatedAt() == null) {
 			return;
 		}
-		if (!idToken.getAuthenticatedAt().equals(existingOidcUser.getIdToken().getAuthenticatedAt())) {
+		// The auth_time claim MUST represent the time of the original authentication OR
+		// the most recent time when the end-user reauthenticated when "prompt=login" is
+		// passed in the authentication request
+		if (!idToken.getAuthenticatedAt().equals(existingOidcUser.getIdToken().getAuthenticatedAt())
+				&& (existingOidcUser.getIdToken().getAuthenticatedAt() == null
+						|| !idToken.getAuthenticatedAt().isAfter(existingOidcUser.getIdToken().getAuthenticatedAt()))) {
 			OAuth2Error oauth2Error = new OAuth2Error(INVALID_ID_TOKEN_ERROR_CODE, "Invalid authenticated at time",
 					REFRESH_TOKEN_RESPONSE_ERROR_URI);
 			throw new OAuth2AuthenticationException(oauth2Error, oauth2Error.toString());
diff --git a/oauth2/oauth2-client/src/test/java/org/springframework/security/oauth2/client/RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests.java b/oauth2/oauth2-client/src/test/java/org/springframework/security/oauth2/client/RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests.java
index dd276be20a..6e4d337a62 100644
--- a/oauth2/oauth2-client/src/test/java/org/springframework/security/oauth2/client/RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests.java
+++ b/oauth2/oauth2-client/src/test/java/org/springframework/security/oauth2/client/RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests.java
@@ -18,8 +18,10 @@ package org.springframework.security.oauth2.client;
 
 import java.time.Duration;
 import java.time.Instant;
+import java.time.temporal.ChronoUnit;
 import java.util.Collections;
 import java.util.HashMap;
+import java.util.LinkedHashSet;
 import java.util.List;
 import java.util.Map;
 import java.util.Set;
@@ -37,6 +39,7 @@ import org.springframework.security.oauth2.client.registration.ClientRegistratio
 import org.springframework.security.oauth2.client.registration.TestClientRegistrations;
 import org.springframework.security.oauth2.client.userinfo.ReactiveOAuth2UserService;
 import org.springframework.security.oauth2.core.OAuth2AccessToken;
+import org.springframework.security.oauth2.core.oidc.OidcIdToken;
 import org.springframework.security.oauth2.core.oidc.OidcScopes;
 import org.springframework.security.oauth2.core.oidc.endpoint.OidcParameterNames;
 import org.springframework.security.oauth2.core.oidc.user.DefaultOidcUser;
@@ -99,7 +102,8 @@ class RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests {
 	@Test
 	void onAuthorizationSuccessWhenIdTokenValidThenSecurityContextRefreshed() {
 		ClientRegistration clientRegistration = TestClientRegistrations.clientRegistration().build();
-		DefaultOidcUser principal = TestOidcUsers.create();
+		Instant authTime = Instant.now();
+		DefaultOidcUser principal = createOidcUser(authTime);
 		OAuth2AuthenticationToken authenticationToken = new OAuth2AuthenticationToken(principal,
 				principal.getAuthorities(), clientRegistration.getRegistrationId());
 		OAuth2AccessToken accessToken = createAccessToken();
@@ -112,6 +116,7 @@ class RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests {
 		claims.put("iss", principal.getIssuer());
 		claims.put("sub", principal.getSubject());
 		claims.put("aud", principal.getAudience());
+		claims.put("auth_time", authTime);
 		claims.put("nonce", principal.getNonce());
 		Jwt jwt = mock(Jwt.class);
 		given(jwt.getTokenValue()).willReturn("id-token-1234");
@@ -316,9 +321,10 @@ class RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests {
 	}
 
 	@Test
-	void onAuthorizationSuccessWhenIdTokenAuthTimeNotSameThenException() {
+	void onAuthorizationSuccessWhenIdTokenAuthTimeBeforeCurrentAuthTimeThenException() {
 		ClientRegistration clientRegistration = TestClientRegistrations.clientRegistration().build();
-		DefaultOidcUser principal = TestOidcUsers.create();
+		Instant authTime = Instant.now();
+		DefaultOidcUser principal = createOidcUser(authTime);
 		OAuth2AuthenticationToken authenticationToken = new OAuth2AuthenticationToken(principal,
 				principal.getAuthorities(), clientRegistration.getRegistrationId());
 		OAuth2AccessToken accessToken = createAccessToken();
@@ -331,7 +337,7 @@ class RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests {
 		claims.put("iss", principal.getIssuer());
 		claims.put("sub", principal.getSubject());
 		claims.put("aud", principal.getAudience());
-		claims.put("auth_time", principal.getIssuedAt());
+		claims.put("auth_time", authTime.minus(5, ChronoUnit.MINUTES));
 		claims.put("nonce", principal.getNonce());
 		Jwt jwt = mock(Jwt.class);
 		given(jwt.getTokenValue()).willReturn("id-token-1234");
@@ -352,6 +358,47 @@ class RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests {
 			.verifyErrorMessage("[invalid_id_token] Invalid authenticated at time");
 	}
 
+	@Test
+	void onAuthorizationSuccessWhenIdTokenAuthTimeAfterCurrentAuthTimeThenSecurityContextRefreshed() {
+		ClientRegistration clientRegistration = TestClientRegistrations.clientRegistration().build();
+		Instant authTime = Instant.now();
+		DefaultOidcUser principal = createOidcUser(authTime);
+		OAuth2AuthenticationToken authenticationToken = new OAuth2AuthenticationToken(principal,
+				principal.getAuthorities(), clientRegistration.getRegistrationId());
+		OAuth2AccessToken accessToken = createAccessToken();
+		OAuth2AuthorizedClient authorizedClient = new OAuth2AuthorizedClient(clientRegistration, principal.getName(),
+				accessToken, null);
+		MockServerWebExchange exchange = MockServerWebExchange.from(MockServerHttpRequest.get("/").build());
+		Map<String, Object> attributes = Map.of(ServerWebExchange.class.getName(), exchange,
+				OidcParameterNames.ID_TOKEN, "id-token-1234");
+		Map<String, Object> claims = new HashMap<>();
+		claims.put("iss", principal.getIssuer());
+		claims.put("sub", principal.getSubject());
+		claims.put("aud", principal.getAudience());
+		claims.put("auth_time", authTime.plus(5, ChronoUnit.MINUTES));
+		claims.put("nonce", principal.getNonce());
+		Jwt jwt = mock(Jwt.class);
+		given(jwt.getTokenValue()).willReturn("id-token-1234");
+		given(jwt.getIssuedAt()).willReturn(principal.getIssuedAt());
+		given(jwt.getClaims()).willReturn(claims);
+		ReactiveJwtDecoder jwtDecoder = mock(ReactiveJwtDecoder.class);
+		given(jwtDecoder.decode(any())).willReturn(Mono.just(jwt));
+		ReactiveJwtDecoderFactory<ClientRegistration> reactiveJwtDecoderFactory = mock(ReactiveJwtDecoderFactory.class);
+		given(reactiveJwtDecoderFactory.createDecoder(any())).willReturn(jwtDecoder);
+		ReactiveOAuth2UserService<OidcUserRequest, OidcUser> userService = mock(ReactiveOAuth2UserService.class);
+		given(userService.loadUser(any())).willReturn(Mono.just(principal));
+		WebSessionServerSecurityContextRepository serverSecurityContextRepository = new WebSessionServerSecurityContextRepository();
+		RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandler handler = new RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandler();
+		handler.setJwtDecoderFactory(reactiveJwtDecoderFactory);
+		handler.setUserService(userService);
+		handler.setServerSecurityContextRepository(serverSecurityContextRepository);
+		StepVerifier.create(handler.onAuthorizationSuccess(authorizedClient, authenticationToken, attributes))
+			.verifyComplete();
+		StepVerifier.create(serverSecurityContextRepository.load(exchange).map(SecurityContext::getAuthentication))
+			.expectNext(authenticationToken)
+			.verifyComplete();
+	}
+
 	@Test
 	void onAuthorizationSuccessWhenIdTokenNonceNotSameThenException() {
 		ClientRegistration clientRegistration = TestClientRegistrations.clientRegistration().build();
@@ -395,4 +442,21 @@ class RefreshOidcUserReactiveOAuth2AuthorizationSuccessHandlerTests {
 				Set.of(OidcScopes.OPENID));
 	}
 
+	private static DefaultOidcUser createOidcUser(Instant authTime) {
+		Instant issuedAt = Instant.now();
+		Instant expiresAt = issuedAt.plusSeconds(3600);
+		// @formatter:off
+		OidcIdToken idToken = OidcIdToken.withTokenValue("id-token")
+				.issuedAt(issuedAt)
+				.expiresAt(expiresAt)
+				.subject("subject")
+				.issuer("http://localhost/issuer")
+				.audience(Collections.unmodifiableSet(new LinkedHashSet<>(Collections.singletonList("client-id"))))
+				.authorizedParty("client")
+				.authTime(authTime)
+				.build();
+		// @formatter:on
+		return new DefaultOidcUser(null, idToken);
+	}
+
 }