diff --git a/sys/arm/arm/undefined.c b/sys/arm/arm/undefined.c
--- a/sys/arm/arm/undefined.c
+++ b/sys/arm/arm/undefined.c
@@ -345,9 +345,19 @@
 #endif
 			return;
 		}
+#ifdef VFP
+		/*
+		 * Workaround to allow the execution of VFP instructions within
+		 * the kernel. Allow the first in-kernel VFP instruction to be
+		 * properly handled by this handler without panicing.
+		 */
+		else if(uh != NULL)
+			return;
+#else
 		else
 			panic("Undefined instruction in kernel (0x%08x).\n",
 			    fault_instruction);
+#endif
 	}
 
 	userret(td, frame);
diff --git a/sys/arm/arm/vfp.c b/sys/arm/arm/vfp.c
--- a/sys/arm/arm/vfp.c
+++ b/sys/arm/arm/vfp.c
@@ -33,9 +33,11 @@
 #include <sys/param.h>
 #include <sys/systm.h>
 #include <sys/limits.h>
+#include <sys/malloc.h>
 #include <sys/proc.h>
 #include <sys/imgact_elf.h>
 #include <sys/kernel.h>
+#include <sys/pcpu.h>
 
 #include <machine/armreg.h>
 #include <machine/elf.h>
@@ -45,6 +47,9 @@
 #include <machine/undefined.h>
 #include <machine/vfp.h>
 
+static MALLOC_DEFINE(M_FPUKERN_CTX, "fpukern_ctx",
+    "Kernel contexts for VFP state");
+
 /* function prototypes */
 static int vfp_bounce(u_int, u_int, struct trapframe *, int);
 static void vfp_restore(struct vfp_state *);
@@ -205,8 +210,11 @@
 	struct pcb *curpcb;
 	ksiginfo_t ksi;
 
+#ifndef VFP
+	/* Allow in-kernel vfp instruction handling */
 	if ((code & FAULT_USER) == 0)
 		panic("undefined floating point instruction in supervisor mode");
+#endif
 
 	critical_enter();
 
@@ -257,12 +265,39 @@
 
 	critical_exit();
 
+#ifndef VFP
+	/*
+	 * Allow kernel state in use when entering userspace as we now allow
+	 * in-kernel VFP
+	 */
 	KASSERT(curpcb->pcb_vfpsaved == &curpcb->pcb_vfpstate,
 	    ("Kernel VFP state in use when entering userspace"));
+#endif
 
 	return (0);
 }
 
+struct fpu_kern_ctx *
+fpu_kern_alloc_ctx(u_int flags)
+{
+	struct fpu_kern_ctx *res;
+	size_t sz;
+
+	sz = sizeof(struct fpu_kern_ctx);
+	res = malloc(sz, M_FPUKERN_CTX, ((flags & FPU_KERN_NOWAIT) ?
+	    M_NOWAIT : M_WAITOK) | M_ZERO);
+	return (res);
+}
+
+void
+fpu_kern_free_ctx(struct fpu_kern_ctx *ctx)
+{
+
+	KASSERT((ctx->flags & FPU_KERN_CTX_INUSE) == 0, ("free'ing inuse ctx"));
+
+	free(ctx, M_FPUKERN_CTX);
+}
+
 /*
  * Update the VFP state for a forked process or new thread. The PCB will
  * have been copied from the old thread.