diff --git a/src/a2a/server/request_handlers/default_request_handler_v2.py b/src/a2a/server/request_handlers/default_request_handler_v2.py
index ecdc0cfef..dbc196fc2 100644
--- a/src/a2a/server/request_handlers/default_request_handler_v2.py
+++ b/src/a2a/server/request_handlers/default_request_handler_v2.py
@@ -71,9 +71,6 @@
 logger = logging.getLogger(__name__)
 
 
-# TODO: cleanup context_id management
-
-
 @trace_class(kind=SpanKind.SERVER)
 class DefaultRequestHandlerV2(RequestHandler):
     """Default request handler for all incoming requests."""
diff --git a/tests/integration/test_scenarios.py b/tests/integration/test_scenarios.py
index 15b0e3a20..bf1c6d3af 100644
--- a/tests/integration/test_scenarios.py
+++ b/tests/integration/test_scenarios.py
@@ -2158,3 +2158,76 @@ async def cancel(
         ):
             async for _ in it:
                 pass
+
+
+# Scenario: Task context_id and task_id visibility
+@pytest.mark.timeout(2.0)
+@pytest.mark.asyncio
+@pytest.mark.parametrize('use_legacy', [False, True], ids=['v2', 'legacy'])
+@pytest.mark.parametrize(
+    'streaming', [False, True], ids=['blocking', 'streaming']
+)
+async def test_scenario_context_id_visibility(use_legacy, streaming):
+    seen_contexts = []
+
+    class ContextIdAgent(AgentExecutor):
+        async def execute(
+            self, context: RequestContext, event_queue: EventQueue
+        ):
+            seen_contexts.append((context.task_id, context.context_id))
+            task = new_task_from_user_message(context.message)
+            task.status.state = TaskState.TASK_STATE_COMPLETED
+            await event_queue.enqueue_event(task)
+
+        async def cancel(
+            self, context: RequestContext, event_queue: EventQueue
+        ):
+            pass
+
+    handler = create_handler(ContextIdAgent(), use_legacy)
+    client = await create_client(
+        handler, agent_card=agent_card(), streaming=streaming
+    )
+
+    # 1. Create a new task (empty context_id, empty task_id)
+    msg1 = Message(
+        message_id='test-msg-1',
+        role=Role.ROLE_USER,
+        parts=[Part(text='start task 1')],
+    )
+    it1 = client.send_message(SendMessageRequest(message=msg1))
+    events1 = [event async for event in it1]
+
+    agent_task1_id, agent_context1_id = seen_contexts[0]
+    client_task1_id = get_task_id(events1[-1])
+    client_context1_id = get_task_context_id(events1[-1])
+
+    # Verify that agent can see non-empty context_id and task_id
+    assert agent_task1_id != ''
+    assert agent_context1_id != ''
+
+    # Verify for task1 that context_id and task_id visible by agent and client are the same.
+    assert agent_task1_id == client_task1_id
+    assert agent_context1_id == client_context1_id
+
+    # 2. Create a new task with context_id from task_1: task_2
+    msg2 = Message(
+        message_id='test-msg-2',
+        context_id=client_context1_id,
+        role=Role.ROLE_USER,
+        parts=[Part(text='start task 2')],
+    )
+    it2 = client.send_message(SendMessageRequest(message=msg2))
+    events2 = [event async for event in it2]
+
+    agent_task2_id, agent_context2_id = seen_contexts[1]
+    client_task2_id = get_task_id(events2[-1])
+    client_context2_id = get_task_context_id(events2[-1])
+
+    # Verify for task2 that context_id and task_id visible by agent and client are the same.
+    assert agent_task2_id == client_task2_id
+    assert agent_context2_id == client_context2_id
+
+    # Verify that agent can see context_id the same as in task_1 and different task id
+    assert agent_context2_id == agent_context1_id
+    assert agent_task2_id != agent_task1_id