diff --git a/src/ray/gcs/accessor.h b/src/ray/gcs/accessor.h
index 5497384c3..4f578989f 100644
--- a/src/ray/gcs/accessor.h
+++ b/src/ray/gcs/accessor.h
@@ -333,11 +333,13 @@ class NodeInfoAccessor {
   /// \return GcsNodeInfo
   virtual const rpc::GcsNodeInfo &GetSelfInfo() const = 0;
 
-  /// Register node to GCS synchronously.
+  /// Register a node to GCS asynchronously.
   ///
   /// \param node_info The information of node to register to GCS.
+  /// \param callback Callback that will be called when registration is complete.
   /// \return Status
-  virtual Status Register(const rpc::GcsNodeInfo &node_info) = 0;
+  virtual Status AsyncRegister(const rpc::GcsNodeInfo &node_info,
+                               const StatusCallback &callback) = 0;
 
   /// Cancel registration of a node to GCS asynchronously.
   ///
diff --git a/src/ray/gcs/gcs_server/node_info_handler_impl.cc b/src/ray/gcs/gcs_server/node_info_handler_impl.cc
index 82e1cb586..eb231d7d0 100644
--- a/src/ray/gcs/gcs_server/node_info_handler_impl.cc
+++ b/src/ray/gcs/gcs_server/node_info_handler_impl.cc
@@ -9,11 +9,19 @@ void DefaultNodeInfoHandler::HandleRegisterNode(
     rpc::SendReplyCallback send_reply_callback) {
   ClientID node_id = ClientID::FromBinary(request.node_info().node_id());
   RAY_LOG(DEBUG) << "Registering node info, node id = " << node_id;
-  Status status = gcs_client_.Nodes().Register(request.node_info());
+
+  auto on_done = [node_id, send_reply_callback](Status status) {
+    if (!status.ok()) {
+      RAY_LOG(ERROR) << "Failed to register node info: " << status.ToString()
+                     << ", node id = " << node_id;
+    }
+    send_reply_callback(status, nullptr, nullptr);
+  };
+
+  Status status = gcs_client_.Nodes().AsyncRegister(request.node_info(), on_done);
   if (!status.ok()) {
-    RAY_LOG(DEBUG) << "Failed to register node info, node id = " << node_id;
+    on_done(status);
   }
-  send_reply_callback(status, nullptr, nullptr);
   RAY_LOG(DEBUG) << "Finished registering node info, node id = " << node_id;
 }
 
diff --git a/src/ray/gcs/redis_accessor.cc b/src/ray/gcs/redis_accessor.cc
index 97dd00cbf..b31005621 100644
--- a/src/ray/gcs/redis_accessor.cc
+++ b/src/ray/gcs/redis_accessor.cc
@@ -420,9 +420,15 @@ const GcsNodeInfo &RedisNodeInfoAccessor::GetSelfInfo() const {
   return client_table.GetLocalClient();
 }
 
-Status RedisNodeInfoAccessor::Register(const GcsNodeInfo &node_info) {
+Status RedisNodeInfoAccessor::AsyncRegister(const GcsNodeInfo &node_info,
+                                            const StatusCallback &callback) {
+  ClientTable::WriteCallback on_done = nullptr;
+  if (callback != nullptr) {
+    on_done = [callback](RedisGcsClient *client, const ClientID &id,
+                         const GcsNodeInfo &data) { callback(Status::OK()); };
+  }
   ClientTable &client_table = client_impl_->client_table();
-  return client_table.Register(node_info);
+  return client_table.MarkConnected(node_info, on_done);
 }
 
 Status RedisNodeInfoAccessor::AsyncUnregister(const ClientID &node_id,
diff --git a/src/ray/gcs/redis_accessor.h b/src/ray/gcs/redis_accessor.h
index ce28f4710..f4583f2c8 100644
--- a/src/ray/gcs/redis_accessor.h
+++ b/src/ray/gcs/redis_accessor.h
@@ -227,7 +227,8 @@ class RedisNodeInfoAccessor : public NodeInfoAccessor {
 
   const GcsNodeInfo &GetSelfInfo() const override;
 
-  Status Register(const GcsNodeInfo &node_info) override;
+  Status AsyncRegister(const GcsNodeInfo &node_info,
+                       const StatusCallback &callback) override;
 
   Status AsyncUnregister(const ClientID &node_id,
                          const StatusCallback &callback) override;
diff --git a/src/ray/gcs/tables.cc b/src/ray/gcs/tables.cc
index b28731114..d9c3d40bf 100644
--- a/src/ray/gcs/tables.cc
+++ b/src/ray/gcs/tables.cc
@@ -640,10 +640,11 @@ Status ClientTable::Disconnect() {
   return status;
 }
 
-ray::Status ClientTable::Register(const GcsNodeInfo &node_info) {
+ray::Status ClientTable::MarkConnected(const GcsNodeInfo &node_info,
+                                       const WriteCallback &done) {
   RAY_CHECK(node_info.state() == GcsNodeInfo::ALIVE);
   auto node_info_ptr = std::make_shared<GcsNodeInfo>(node_info);
-  return SyncAppend(JobID::Nil(), client_log_key_, node_info_ptr);
+  return Append(JobID::Nil(), client_log_key_, node_info_ptr, done);
 }
 
 ray::Status ClientTable::MarkDisconnected(const ClientID &dead_node_id,
diff --git a/src/ray/gcs/tables.h b/src/ray/gcs/tables.h
index 62c722ef3..05c9f35a0 100644
--- a/src/ray/gcs/tables.h
+++ b/src/ray/gcs/tables.h
@@ -894,16 +894,17 @@ class ClientTable : public Log<ClientID, GcsNodeInfo> {
   /// \return Status
   ray::Status Disconnect();
 
-  /// Register a new client to the GCS.
+  /// Mark a new node as connected to GCS asynchronously.
   ///
-  /// \param node_info Information about the client.
+  /// \param node_info Information about the node.
+  /// \param done Callback that is called once the node has been marked to connected.
   /// \return Status
-  ray::Status Register(const GcsNodeInfo &node_info);
+  ray::Status MarkConnected(const GcsNodeInfo &node_info, const WriteCallback &done);
 
-  /// Mark a different client as disconnected. The client ID should never be
-  /// reused for a new client.
+  /// Mark a different node as disconnected. The client ID should never be
+  /// reused for a new node.
   ///
-  /// \param dead_node_id The ID of the client to mark as dead.
+  /// \param dead_node_id The ID of the node to mark as dead.
   /// \param done Callback that is called once the node has been marked to
   /// disconnected.
   /// \return Status