diff --git a/dockers/docker-router-advertiser/Dockerfile.j2 b/dockers/docker-router-advertiser/Dockerfile.j2
index 39e7b28eff..1b372c4019 100644
--- a/dockers/docker-router-advertiser/Dockerfile.j2
+++ b/dockers/docker-router-advertiser/Dockerfile.j2
@@ -24,10 +24,9 @@ RUN apt-get clean -y        && \
     apt-get autoremove -y   && \
     rm -rf /debs
 
-COPY ["start.sh", "/usr/bin/"]
-COPY ["docker-router-advertiser.supervisord.conf", "/etc/supervisor/conf.d/"]
-COPY ["radvd.conf.j2", "wait_for_intf.sh.j2", "/usr/share/sonic/templates/"]
+COPY ["docker-init.sh", "/usr/bin/"]
+COPY ["radvd.conf.j2", "wait_for_intf.sh.j2", "docker-router-advertiser.supervisord.conf.j2", "/usr/share/sonic/templates/"]
 COPY ["files/supervisor-proc-exit-listener", "/usr/bin"]
 COPY ["critical_processes", "/etc/supervisor"]
 
-ENTRYPOINT ["/usr/bin/supervisord"]
+ENTRYPOINT ["/usr/bin/docker-init.sh"]
diff --git a/dockers/docker-router-advertiser/docker-init.sh b/dockers/docker-router-advertiser/docker-init.sh
new file mode 100755
index 0000000000..f93544e7cb
--- /dev/null
+++ b/dockers/docker-router-advertiser/docker-init.sh
@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+
+mkdir -p /etc/supervisor/conf.d
+sonic-cfggen -d -t /usr/share/sonic/templates/docker-router-advertiser.supervisord.conf.j2 > /etc/supervisor/conf.d/supervisord.conf
+
+# Generate /etc/radvd.conf config file
+sonic-cfggen -d -t /usr/share/sonic/templates/radvd.conf.j2 > /etc/radvd.conf
+
+# Generate the script that waits for pertinent interfaces to come up and make it executable
+sonic-cfggen -d -t /usr/share/sonic/templates/wait_for_intf.sh.j2 > /usr/bin/wait_for_intf.sh
+chmod +x /usr/bin/wait_for_intf.sh
+
+exec /usr/bin/supervisord
diff --git a/dockers/docker-router-advertiser/docker-router-advertiser.supervisord.conf b/dockers/docker-router-advertiser/docker-router-advertiser.supervisord.conf
deleted file mode 100644
index bf9320acc7..0000000000
--- a/dockers/docker-router-advertiser/docker-router-advertiser.supervisord.conf
+++ /dev/null
@@ -1,35 +0,0 @@
-[supervisord]
-logfile_maxbytes=1MB
-logfile_backups=2
-nodaemon=true
-
-[eventlistener:supervisor-proc-exit-script]
-command=/usr/bin/supervisor-proc-exit-listener --container-name radv
-events=PROCESS_STATE_EXITED
-autostart=true
-autorestart=unexpected
-
-[program:start.sh]
-command=/usr/bin/start.sh
-priority=1
-autostart=true
-autorestart=false
-startsecs=0
-stdout_logfile=syslog
-stderr_logfile=syslog
-
-[program:rsyslogd]
-command=/usr/sbin/rsyslogd -n
-priority=2
-autostart=false
-autorestart=false
-stdout_logfile=syslog
-stderr_logfile=syslog
-
-[program:radvd]
-command=/usr/sbin/radvd -n
-priority=3
-autostart=false
-autorestart=false
-stdout_logfile=syslog
-stderr_logfile=syslog
diff --git a/dockers/docker-router-advertiser/docker-router-advertiser.supervisord.conf.j2 b/dockers/docker-router-advertiser/docker-router-advertiser.supervisord.conf.j2
new file mode 100644
index 0000000000..146e7c1b67
--- /dev/null
+++ b/dockers/docker-router-advertiser/docker-router-advertiser.supervisord.conf.j2
@@ -0,0 +1,65 @@
+[supervisord]
+logfile_maxbytes=1MB
+logfile_backups=2
+nodaemon=true
+
+[eventlistener:dependent-startup]
+command=python -m supervisord_dependent_startup
+autostart=true
+autorestart=unexpected
+startretries=0
+exitcodes=0,3
+events=PROCESS_STATE
+
+[eventlistener:supervisor-proc-exit-script]
+command=/usr/bin/supervisor-proc-exit-listener --container-name radv
+events=PROCESS_STATE_EXITED
+autostart=true
+autorestart=unexpected
+
+[program:rsyslogd]
+command=/usr/sbin/rsyslogd -n -iNONE
+priority=1
+autostart=false
+autorestart=false
+stdout_logfile=syslog
+stderr_logfile=syslog
+dependent_startup=true
+
+{# Router advertiser should only run on ToR (T0) devices #}
+{% if DEVICE_METADATA.localhost.type == "ToRRouter" %}
+
+  {% if VLAN_INTERFACE %}
+    {% for (name, prefix) in VLAN_INTERFACE|pfx_filter %}
+      {# If this VLAN has an IPv6 address... #}
+      {% if prefix | ipv6 %}
+        {% set ipv6_found = true %}
+      {% endif %}
+    {% endfor %}
+  {% endif %}
+
+  {# Enusre at least one ipv6 vlan interface #}
+  {% if ipv6_found == true %}
+[program:wait_for_link]
+command=/usr/bin/wait_for_link.sh
+priority=3
+autostart=false
+autorestart=false
+startsecs=0
+stdout_logfile=syslog
+stderr_logfile=syslog
+dependent_startup=true
+dependent_startup_wait_for=rsyslogd:running
+
+[program:radvd]
+command=/usr/sbin/radvd -n
+priority=4
+autostart=false
+autorestart=false
+stdout_logfile=syslog
+stderr_logfile=syslog
+dependent_startup=true
+dependent_startup_wait_for=wait_for_link:exited
+  {% endif %}
+
+{% endif %}
diff --git a/dockers/docker-router-advertiser/start.sh b/dockers/docker-router-advertiser/start.sh
deleted file mode 100755
index 8d5f73a8bc..0000000000
--- a/dockers/docker-router-advertiser/start.sh
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/usr/bin/env bash
-
-rm -f /var/run/rsyslogd.pid
-
-supervisorctl start rsyslogd
-
-# Router advertiser should only run on ToR (T0) devices
-DEVICE_ROLE=$(sonic-cfggen -d -v "DEVICE_METADATA.localhost.type")
-if [ "$DEVICE_ROLE" != "ToRRouter" ]; then
-    echo "Device role is not ToRRouter. Not starting router advertiser process."
-    exit 0
-fi
-
-# Generate /etc/radvd.conf config file
-sonic-cfggen -d -t /usr/share/sonic/templates/radvd.conf.j2 > /etc/radvd.conf
-
-# Enusre at least one interface is specified in radvd.conf
-NUM_IFACES=$(grep -c "^interface " /etc/radvd.conf)
-if [ $NUM_IFACES -eq 0 ]; then
-    echo "No interfaces specified in radvd.conf. Not starting router advertiser process."
-    exit 0
-fi
-
-# Generate the script that waits for pertinent interfaces to come up and make it executable
-sonic-cfggen -d -t /usr/share/sonic/templates/wait_for_intf.sh.j2 > /usr/bin/wait_for_intf.sh
-chmod +x /usr/bin/wait_for_intf.sh
-
-# Wait for pertinent interfaces to come up
-/usr/bin/wait_for_intf.sh
-
-# Start the router advertiser
-supervisorctl start radvd