diff --git a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
index 99cec6078ab..cdf1e6fcfc0 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp
@@ -379,7 +379,17 @@ bool PDPSimple::create_dcps_participant_endpoints()
 
     WriterAttributes watt = create_builtin_writer_attributes();
     watt.endpoint.reliabilityKind = BEST_EFFORT;
-    watt.endpoint.remoteLocatorList = m_discovery.initialPeersList;
+    if (!m_discovery.initialPeersList.empty())
+    {
+        if (mp_RTPSParticipant->has_tcp_transports())
+        {
+            mp_RTPSParticipant->create_tcp_connections(m_discovery.initialPeersList);
+        }
+        else
+        {
+            watt.endpoint.remoteLocatorList = m_discovery.initialPeersList;
+        }
+    }
 
     if (pattr.throughputController.bytesPerPeriod != UINT32_MAX && pattr.throughputController.periodMillisecs != 0)
     {