diff --git a/pkg/innerring/processors/audit/process.go b/pkg/innerring/processors/audit/process.go
index 7f148e57e..ecfc407be 100644
--- a/pkg/innerring/processors/audit/process.go
+++ b/pkg/innerring/processors/audit/process.go
@@ -46,15 +46,21 @@ func (ap *Processor) processStartAudit(epoch uint64) {
 		return
 	}
 
-	var auditCtx context.Context
-	auditCtx, ap.prevAuditCanceler = context.WithCancel(context.Background())
+	cancelChannel := make(chan struct{})
+	ap.prevAuditCanceler = func() {
+		select {
+		case <-cancelChannel: // already closed
+		default:
+			close(cancelChannel)
+		}
+	}
 
 	pivot := make([]byte, sha256.Size)
 
-	ap.startAuditTasksOnContainers(auditCtx, containers, log, pivot, nm, epoch)
+	ap.startAuditTasksOnContainers(cancelChannel, containers, log, pivot, nm, epoch)
 }
 
-func (ap *Processor) startAuditTasksOnContainers(ctx context.Context, containers []cid.ID, log *zap.Logger, pivot []byte, nm *netmap.NetMap, epoch uint64) {
+func (ap *Processor) startAuditTasksOnContainers(cancelChannel <-chan struct{}, containers []cid.ID, log *zap.Logger, pivot []byte, nm *netmap.NetMap, epoch uint64) {
 	for i := range containers {
 		cnr, err := cntClient.Get(ap.containerClient, containers[i]) // get container structure
 		if err != nil {
@@ -107,18 +113,14 @@ func (ap *Processor) startAuditTasksOnContainers(ctx context.Context, containers
 				epoch: epoch,
 				rep:   ap.reporter,
 			}).
-			WithAuditContext(ctx).
+			WithCancelChannel(cancelChannel).
 			WithContainerID(containers[i]).
 			WithStorageGroupList(storageGroups).
 			WithContainerStructure(cnr.Value).
 			WithContainerNodes(nodes).
 			WithNetworkMap(nm)
 
-		if err := ap.taskManager.PushTask(auditTask); err != nil {
-			ap.log.Error("could not push audit task",
-				zap.String("error", err.Error()),
-			)
-		}
+		ap.taskManager.PushTask(auditTask)
 	}
 }
 
diff --git a/pkg/innerring/processors/audit/processor.go b/pkg/innerring/processors/audit/processor.go
index cb514b165..31e8a8c55 100644
--- a/pkg/innerring/processors/audit/processor.go
+++ b/pkg/innerring/processors/audit/processor.go
@@ -24,7 +24,7 @@ type (
 	}
 
 	TaskManager interface {
-		PushTask(*audit.Task) error
+		PushTask(*audit.Task)
 
 		// Must skip all tasks planned for execution and
 		// return their number.
diff --git a/pkg/services/audit/auditor/context.go b/pkg/services/audit/auditor/context.go
index f2778fd65..bf720c330 100644
--- a/pkg/services/audit/auditor/context.go
+++ b/pkg/services/audit/auditor/context.go
@@ -194,9 +194,7 @@ func (c *Context) init() {
 	)}
 }
 
-func (c *Context) expired() bool {
-	ctx := c.task.AuditContext()
-
+func (c *Context) expired(ctx context.Context) bool {
 	select {
 	case <-ctx.Done():
 		c.log.Debug("audit context is done",
diff --git a/pkg/services/audit/auditor/exec.go b/pkg/services/audit/auditor/exec.go
index ceb6556e2..e603818b8 100644
--- a/pkg/services/audit/auditor/exec.go
+++ b/pkg/services/audit/auditor/exec.go
@@ -1,16 +1,18 @@
 package auditor
 
 import (
+	"context"
 	"fmt"
 )
 
 // Execute audits container data.
-func (c *Context) Execute() {
+func (c *Context) Execute(ctx context.Context, onCompleted func()) {
+	defer onCompleted()
 	c.init()
 
 	checks := []struct {
 		name string
-		exec func()
+		exec func(context.Context)
 	}{
 		{name: "PoR", exec: c.executePoR},
 		{name: "PoP", exec: c.executePoP},
@@ -20,11 +22,11 @@ func (c *Context) Execute() {
 	for i := range checks {
 		c.log.Debug(fmt.Sprintf("executing %s check...", checks[i].name))
 
-		if c.expired() {
+		if c.expired(ctx) {
 			break
 		}
 
-		checks[i].exec()
+		checks[i].exec(ctx)
 
 		if i == len(checks)-1 {
 			c.complete()
diff --git a/pkg/services/audit/auditor/pdp.go b/pkg/services/audit/auditor/pdp.go
index 13b50e498..8a184eb7e 100644
--- a/pkg/services/audit/auditor/pdp.go
+++ b/pkg/services/audit/auditor/pdp.go
@@ -2,6 +2,7 @@ package auditor
 
 import (
 	"bytes"
+	"context"
 	"sync"
 	"time"
 
@@ -13,12 +14,12 @@ import (
 	"go.uber.org/zap"
 )
 
-func (c *Context) executePDP() {
-	c.processPairs()
+func (c *Context) executePDP(ctx context.Context) {
+	c.processPairs(ctx)
 	c.writePairsResult()
 }
 
-func (c *Context) processPairs() {
+func (c *Context) processPairs(ctx context.Context) {
 	wg := new(sync.WaitGroup)
 
 	for i := range c.pairs {
@@ -26,7 +27,7 @@ func (c *Context) processPairs() {
 		wg.Add(1)
 
 		if err := c.pdpWorkerPool.Submit(func() {
-			c.processPair(p)
+			c.processPair(ctx, p)
 			wg.Done()
 		}); err != nil {
 			wg.Done()
@@ -37,9 +38,9 @@ func (c *Context) processPairs() {
 	c.pdpWorkerPool.Release()
 }
 
-func (c *Context) processPair(p *gamePair) {
+func (c *Context) processPair(ctx context.Context, p *gamePair) {
 	c.distributeRanges(p)
-	c.collectHashes(p)
+	c.collectHashes(ctx, p)
 	c.analyzeHashes(p)
 }
 
@@ -106,7 +107,7 @@ func (c *Context) splitPayload(id oid.ID) []uint64 {
 	return notches
 }
 
-func (c *Context) collectHashes(p *gamePair) {
+func (c *Context) collectHashes(ctx context.Context, p *gamePair) {
 	fn := func(n netmap.NodeInfo, rngs []*object.Range) [][]byte {
 		// Here we randomize the order a bit: the hypothesis is that this
 		// makes it harder for an unscrupulous node to come up with a
@@ -137,7 +138,7 @@ func (c *Context) collectHashes(p *gamePair) {
 
 			getRangeHashPrm.Range = rngs[i]
 
-			h, err := c.cnrCom.GetRangeHash(c.task.AuditContext(), getRangeHashPrm)
+			h, err := c.cnrCom.GetRangeHash(ctx, getRangeHashPrm)
 			if err != nil {
 				c.log.Debug("could not get payload range hash",
 					zap.Stringer("id", p.id),
diff --git a/pkg/services/audit/auditor/pop.go b/pkg/services/audit/auditor/pop.go
index 45afa7937..32b837794 100644
--- a/pkg/services/audit/auditor/pop.go
+++ b/pkg/services/audit/auditor/pop.go
@@ -1,6 +1,8 @@
 package auditor
 
 import (
+	"context"
+
 	"git.frostfs.info/TrueCloudLab/frostfs-sdk-go/netmap"
 	oid "git.frostfs.info/TrueCloudLab/frostfs-sdk-go/object/id"
 	"git.frostfs.info/TrueCloudLab/tzhash/tz"
@@ -12,8 +14,8 @@ const (
 	minGamePayloadSize = hashRangeNumber * tz.Size
 )
 
-func (c *Context) executePoP() {
-	c.buildCoverage()
+func (c *Context) executePoP(ctx context.Context) {
+	c.buildCoverage(ctx)
 
 	c.report.SetPlacementCounters(
 		c.counters.hit,
@@ -22,13 +24,13 @@ func (c *Context) executePoP() {
 	)
 }
 
-func (c *Context) buildCoverage() {
+func (c *Context) buildCoverage(ctx context.Context) {
 	policy := c.task.ContainerStructure().PlacementPolicy()
 
 	// select random member from another storage group
 	// and process all placement vectors
 	c.iterateSGMembersPlacementRand(func(id oid.ID, ind int, nodes []netmap.NodeInfo) bool {
-		c.processObjectPlacement(id, nodes, policy.ReplicaNumberByIndex(ind))
+		c.processObjectPlacement(ctx, id, nodes, policy.ReplicaNumberByIndex(ind))
 		return c.containerCovered()
 	})
 }
@@ -38,7 +40,7 @@ func (c *Context) containerCovered() bool {
 	return c.cnrNodesNum <= len(c.pairedNodes)
 }
 
-func (c *Context) processObjectPlacement(id oid.ID, nodes []netmap.NodeInfo, replicas uint32) {
+func (c *Context) processObjectPlacement(ctx context.Context, id oid.ID, nodes []netmap.NodeInfo, replicas uint32) {
 	var (
 		ok      uint32
 		optimal bool
@@ -57,7 +59,7 @@ func (c *Context) processObjectPlacement(id oid.ID, nodes []netmap.NodeInfo, rep
 		getHeaderPrm.Node = nodes[i]
 
 		// try to get object header from node
-		hdr, err := c.cnrCom.GetHeader(c.task.AuditContext(), getHeaderPrm)
+		hdr, err := c.cnrCom.GetHeader(ctx, getHeaderPrm)
 		if err != nil {
 			c.log.Debug("could not get object header from candidate",
 				zap.Stringer("id", id),
diff --git a/pkg/services/audit/auditor/por.go b/pkg/services/audit/auditor/por.go
index ff322d6e1..6011217f8 100644
--- a/pkg/services/audit/auditor/por.go
+++ b/pkg/services/audit/auditor/por.go
@@ -2,6 +2,7 @@ package auditor
 
 import (
 	"bytes"
+	"context"
 	"sync"
 
 	"git.frostfs.info/TrueCloudLab/frostfs-node/pkg/services/object_manager/placement"
@@ -14,7 +15,7 @@ import (
 	"go.uber.org/zap"
 )
 
-func (c *Context) executePoR() {
+func (c *Context) executePoR(ctx context.Context) {
 	wg := new(sync.WaitGroup)
 	sgs := c.task.StorageGroupList()
 
@@ -22,7 +23,7 @@ func (c *Context) executePoR() {
 		wg.Add(1)
 
 		if err := c.porWorkerPool.Submit(func() {
-			c.checkStorageGroupPoR(sg.ID(), sg.StorageGroup())
+			c.checkStorageGroupPoR(ctx, sg.ID(), sg.StorageGroup())
 			wg.Done()
 		}); err != nil {
 			wg.Done()
@@ -36,7 +37,7 @@ func (c *Context) executePoR() {
 }
 
 // nolint: funlen
-func (c *Context) checkStorageGroupPoR(sgID oid.ID, sg storagegroupSDK.StorageGroup) {
+func (c *Context) checkStorageGroupPoR(ctx context.Context, sgID oid.ID, sg storagegroupSDK.StorageGroup) {
 	members := sg.Members()
 	c.updateSGInfo(sgID, members)
 
@@ -80,7 +81,7 @@ func (c *Context) checkStorageGroupPoR(sgID oid.ID, sg storagegroupSDK.StorageGr
 
 			getHeaderPrm.Node = flat[j]
 
-			hdr, err := c.cnrCom.GetHeader(c.task.AuditContext(), getHeaderPrm)
+			hdr, err := c.cnrCom.GetHeader(ctx, getHeaderPrm)
 			if err != nil {
 				c.log.Debug("can't head object",
 					zap.String("remote_node", netmap.StringifyPublicKey(flat[j])),
diff --git a/pkg/services/audit/task.go b/pkg/services/audit/task.go
index 35932a69e..3de5ac2c6 100644
--- a/pkg/services/audit/task.go
+++ b/pkg/services/audit/task.go
@@ -1,8 +1,6 @@
 package audit
 
 import (
-	"context"
-
 	"git.frostfs.info/TrueCloudLab/frostfs-node/pkg/core/storagegroup"
 	"git.frostfs.info/TrueCloudLab/frostfs-sdk-go/container"
 	cid "git.frostfs.info/TrueCloudLab/frostfs-sdk-go/container/id"
@@ -10,11 +8,10 @@ import (
 )
 
 // Task groups groups the container audit parameters.
-// nolint: containedctx
 type Task struct {
-	reporter Reporter
+	cancelCh <-chan struct{}
 
-	auditContext context.Context
+	reporter Reporter
 
 	idCnr cid.ID
 
@@ -41,18 +38,15 @@ func (t *Task) Reporter() Reporter {
 	return t.reporter
 }
 
-// WithAuditContext sets context of the audit of the current epoch.
-func (t *Task) WithAuditContext(ctx context.Context) *Task {
-	if t != nil {
-		t.auditContext = ctx
+func (t *Task) WithCancelChannel(ch <-chan struct{}) *Task {
+	if ch != nil {
+		t.cancelCh = ch
 	}
-
 	return t
 }
 
-// AuditContext returns context of the audit of the current epoch.
-func (t *Task) AuditContext() context.Context {
-	return t.auditContext
+func (t *Task) CancelChannel() <-chan struct{} {
+	return t.cancelCh
 }
 
 // WithContainerID sets identifier of the container under audit.
diff --git a/pkg/services/audit/taskmanager/listen.go b/pkg/services/audit/taskmanager/listen.go
index 4e8a3df68..a16052e13 100644
--- a/pkg/services/audit/taskmanager/listen.go
+++ b/pkg/services/audit/taskmanager/listen.go
@@ -33,18 +33,28 @@ func (m *Manager) Listen(ctx context.Context) {
 				return
 			}
 
-			m.handleTask(task)
+			tCtx, tCancel := context.WithCancel(ctx) // cancel task in case of listen cancel
+			go func() {
+				select {
+				case <-tCtx.Done(): // listen cancelled or task completed
+					return
+				case <-task.CancelChannel(): // new epoch
+					tCancel()
+				}
+			}()
+
+			m.handleTask(tCtx, task, tCancel)
 		}
 	}
 }
 
-func (m *Manager) handleTask(task *audit.Task) {
+func (m *Manager) handleTask(ctx context.Context, task *audit.Task, onCompleted func()) {
 	pdpPool, err := m.pdpPoolGenerator()
 	if err != nil {
 		m.log.Error("could not generate PDP worker pool",
 			zap.String("error", err.Error()),
 		)
-
+		onCompleted()
 		return
 	}
 
@@ -53,7 +63,7 @@ func (m *Manager) handleTask(task *audit.Task) {
 		m.log.Error("could not generate PoR worker pool",
 			zap.String("error", err.Error()),
 		)
-
+		onCompleted()
 		return
 	}
 
@@ -61,9 +71,10 @@ func (m *Manager) handleTask(task *audit.Task) {
 		WithPDPWorkerPool(pdpPool).
 		WithPoRWorkerPool(porPool)
 
-	if err := m.workerPool.Submit(auditContext.Execute); err != nil {
+	if err := m.workerPool.Submit(func() { auditContext.Execute(ctx, onCompleted) }); err != nil {
 		// may be we should report it
 		m.log.Warn("could not submit audit task")
+		onCompleted()
 	}
 }
 
diff --git a/pkg/services/audit/taskmanager/push.go b/pkg/services/audit/taskmanager/push.go
index 13f8fd12d..805897dbf 100644
--- a/pkg/services/audit/taskmanager/push.go
+++ b/pkg/services/audit/taskmanager/push.go
@@ -5,9 +5,6 @@ import (
 )
 
 // PushTask adds a task to the queue for processing.
-//
-// Returns error if task was not added to the queue.
-func (m *Manager) PushTask(t *audit.Task) error {
+func (m *Manager) PushTask(t *audit.Task) {
 	m.ch <- t
-	return nil
 }