diff --git a/oauth2/oauth2-client/src/main/java/org/springframework/security/oauth2/client/oidc/authentication/OidcAuthorizedClientRefreshedEventListener.java b/oauth2/oauth2-client/src/main/java/org/springframework/security/oauth2/client/oidc/authentication/OidcAuthorizedClientRefreshedEventListener.java
index 1e983522e9..841c8f268e 100644
--- a/oauth2/oauth2-client/src/main/java/org/springframework/security/oauth2/client/oidc/authentication/OidcAuthorizedClientRefreshedEventListener.java
+++ b/oauth2/oauth2-client/src/main/java/org/springframework/security/oauth2/client/oidc/authentication/OidcAuthorizedClientRefreshedEventListener.java
@@ -300,7 +300,11 @@ public final class OidcAuthorizedClientRefreshedEventListener
 			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())
+				&& !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/oidc/authentication/OidcAuthorizedClientRefreshedEventListenerTests.java b/oauth2/oauth2-client/src/test/java/org/springframework/security/oauth2/client/oidc/authentication/OidcAuthorizedClientRefreshedEventListenerTests.java
index f3521d43d9..e0aa5cbc72 100644
--- a/oauth2/oauth2-client/src/test/java/org/springframework/security/oauth2/client/oidc/authentication/OidcAuthorizedClientRefreshedEventListenerTests.java
+++ b/oauth2/oauth2-client/src/test/java/org/springframework/security/oauth2/client/oidc/authentication/OidcAuthorizedClientRefreshedEventListenerTests.java
@@ -419,8 +419,8 @@ public class OidcAuthorizedClientRefreshedEventListenerTests {
 	}
 
 	@Test
-	public void onApplicationEventWhenIdTokenAuthenticatedAtDoesNotMatchThenThrowsOAuth2AuthenticationException() {
-		Instant authTime = this.oidcUser.getAuthenticatedAt().plus(5, ChronoUnit.SECONDS);
+	public void onApplicationEventWhenIdTokenAuthenticatedAtBeforeCurrentAuthenticatedAtThenThrowsOAuth2AuthenticationException() {
+		Instant authTime = this.oidcUser.getAuthenticatedAt().minus(5, ChronoUnit.MINUTES);
 		Jwt jwt = createJwt().claim(IdTokenClaimNames.AUTH_TIME, authTime).build();
 		SecurityContextImpl securityContext = new SecurityContextImpl(this.authentication);
 		given(this.securityContextHolderStrategy.getContext()).willReturn(securityContext);
@@ -440,8 +440,26 @@ public class OidcAuthorizedClientRefreshedEventListenerTests {
 		verifyNoInteractions(this.userService, this.applicationEventPublisher);
 	}
 
+	// gh-18839
 	@Test
-	public void onApplicationEventWhenIdTokenAuthenticatedAtMatchesThenOidcUserRefreshedEventPublished() {
+	public void onApplicationEventWhenIdTokenAuthenticatedAtAfterCurrentAuthenticatedAtThenOidcUserRefreshedEventPublished() {
+		Instant authTime = this.oidcUser.getAuthenticatedAt().plus(5, ChronoUnit.MINUTES);
+		Jwt jwt = createJwt().claim(IdTokenClaimNames.AUTH_TIME, authTime).build();
+		SecurityContextImpl securityContext = new SecurityContextImpl(this.authentication);
+		given(this.securityContextHolderStrategy.getContext()).willReturn(securityContext);
+		given(this.jwtDecoder.decode(anyString())).willReturn(jwt);
+		given(this.userService.loadUser(any(OidcUserRequest.class))).willReturn(this.oidcUser);
+
+		OAuth2AuthorizedClientRefreshedEvent authorizedClientRefreshedEvent = new OAuth2AuthorizedClientRefreshedEvent(
+				this.accessTokenResponse, this.authorizedClient);
+		this.eventListener.onApplicationEvent(authorizedClientRefreshedEvent);
+
+		verify(this.applicationEventPublisher).publishEvent(any(OidcUserRefreshedEvent.class));
+		verifyNoMoreInteractions(this.applicationEventPublisher);
+	}
+
+	@Test
+	public void onApplicationEventWhenIdTokenAuthenticatedAtMatchesCurrentAuthenticatedAtThenOidcUserRefreshedEventPublished() {
 		Instant authTime = this.authentication.getPrincipal().getAttribute(IdTokenClaimNames.AUTH_TIME);
 		Jwt jwt = createJwt().claim(IdTokenClaimNames.AUTH_TIME, authTime).build();
 		SecurityContextImpl securityContext = new SecurityContextImpl(this.authentication);