diff --git a/core/modules/taxonomy/migration_templates/d6_term_node.yml b/core/modules/taxonomy/migration_templates/d6_term_node.yml
index 01578b1..349bcd3 100644
--- a/core/modules/taxonomy/migration_templates/d6_term_node.yml
+++ b/core/modules/taxonomy/migration_templates/d6_term_node.yml
@@ -7,7 +7,14 @@ builder:
 source:
   plugin: d6_term_node
 process:
-  nid: nid
+  nid:
+    -
+      plugin: migration
+      migration: d6_node:*
+      source: nid
+    -
+      plugin: skip_on_empty
+      method: row
   type: type
   # The actual field name is dynamic and will be added by the builder.
 destination:
diff --git a/core/modules/taxonomy/migration_templates/d6_term_node_revision.yml b/core/modules/taxonomy/migration_templates/d6_term_node_revision.yml
index e9ceadd..06e801a 100644
--- a/core/modules/taxonomy/migration_templates/d6_term_node_revision.yml
+++ b/core/modules/taxonomy/migration_templates/d6_term_node_revision.yml
@@ -7,7 +7,14 @@ builder:
 source:
   plugin: d6_term_node_revision
 process:
-  vid: vid
+  vid:
+    -
+      plugin: migration
+      migration: d6_node:*
+      source: vid
+    -
+      plugin: skip_on_empty
+      method: row
   type: type
   # The actual field name is dynamic and will be added by the builder.
 destination:
diff --git a/core/modules/taxonomy/src/Tests/Migrate/d6/MigrateTermNodeTest.php b/core/modules/taxonomy/src/Tests/Migrate/d6/MigrateTermNodeTest.php
index 7c4ad18..806d47e 100644
--- a/core/modules/taxonomy/src/Tests/Migrate/d6/MigrateTermNodeTest.php
+++ b/core/modules/taxonomy/src/Tests/Migrate/d6/MigrateTermNodeTest.php
@@ -7,6 +7,9 @@
 
 namespace Drupal\taxonomy\Tests\Migrate\d6;
 
+use Drupal\migrate\Entity\Migration;
+use Drupal\migrate\Plugin\MigrateIdMapInterface;
+use Drupal\migrate\Row;
 use Drupal\migrate_drupal\Tests\d6\MigrateDrupal6TestBase;
 use Drupal\node\Entity\Node;
 
@@ -30,13 +33,14 @@ protected function setUp() {
     $this->installSchema('node', ['node_access']);
     $this->migrateContent();
     $this->migrateTaxonomy();
-    $this->executeMigrations(['d6_term_node:*']);
   }
 
   /**
    * Tests the Drupal 6 term-node association to Drupal 8 migration.
    */
   public function testTermNode() {
+    $this->executeMigrations(['d6_term_node:*']);
+
     $this->container->get('entity.manager')
       ->getStorage('node')
       ->resetCache([1, 2]);
@@ -51,4 +55,28 @@ public function testTermNode() {
     $this->assertIdentical('3', $node->vocabulary_2_i_1_[1]->target_id);
   }
 
+  /**
+   * Tests that term associations are ignored when they belong to nodes which
+   * were not migrated.
+   */
+  public function testSkipNonExistentNode() {
+    // Node 2 is migrated by d6_node__story, but we need to pretend that it
+    // failed, so record that in the map table.
+    /** @var \Drupal\migrate\Entity\MigrationInterface $migration */
+    $migration = Migration::load('d6_node__story');
+    $node = $this->sourceDatabase->select('node', 'n')
+      ->fields('n')
+      ->condition('nid', 2)
+      ->execute()
+      ->fetchAssoc();
+    $row = new Row($node, $migration->getSourcePlugin()->getIds());
+    $migration->getIdMap()->saveIdMapping($row, ['nid' => NULL], MigrateIdMapInterface::STATUS_FAILED);
+
+    // d6_term_node__2 should skip over node 2 (a.k.a. revision 3) because,
+    // according to the map table, it failed.
+    $migration = Migration::load('d6_term_node__2');
+    $this->executeMigration($migration);
+    $this->assertNull($migration->getIdMap()->lookupDestinationId(['vid' => 3])[0]);
+  }
+
 }