diff --git a/changelogs/unreleased/5760-Lyndon-Li b/changelogs/unreleased/5760-Lyndon-Li
new file mode 100644
index 000000000..a71ebed28
--- /dev/null
+++ b/changelogs/unreleased/5760-Lyndon-Li
@@ -0,0 +1 @@
+Fix issue 5043, after the restore pod is scheduled, check if the node-agent pod is running in the same node.
\ No newline at end of file
diff --git a/pkg/cmd/server/server.go b/pkg/cmd/server/server.go
index 65414b961..d4d73a5ce 100644
--- a/pkg/cmd/server/server.go
+++ b/pkg/cmd/server/server.go
@@ -680,7 +680,7 @@ func (s *server) runControllers(defaultVolumeSnapshotLocations map[string]string
 			s.config.restoreResourcePriorities,
 			s.kubeClient.CoreV1().Namespaces(),
 			podvolume.NewRestorerFactory(s.repoLocker, s.repoEnsurer, s.veleroClient, s.kubeClient.CoreV1(),
-				s.sharedInformerFactory.Velero().V1().BackupRepositories().Informer().HasSynced, s.logger),
+				s.kubeClient.CoreV1(), s.kubeClient, s.sharedInformerFactory.Velero().V1().BackupRepositories().Informer().HasSynced, s.logger),
 			s.config.podVolumeOperationTimeout,
 			s.config.resourceTerminatingTimeout,
 			s.logger,
diff --git a/pkg/podvolume/restorer.go b/pkg/podvolume/restorer.go
index 1360cdc65..c78a85d69 100644
--- a/pkg/podvolume/restorer.go
+++ b/pkg/podvolume/restorer.go
@@ -19,19 +19,24 @@ package podvolume
 import (
 	"context"
 	"sync"
+	"time"
 
 	"github.com/pkg/errors"
 	"github.com/sirupsen/logrus"
 	corev1api "k8s.io/api/core/v1"
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
+	"k8s.io/apimachinery/pkg/util/wait"
+	"k8s.io/client-go/kubernetes"
 	corev1client "k8s.io/client-go/kubernetes/typed/core/v1"
 	"k8s.io/client-go/tools/cache"
 
 	velerov1api "github.com/vmware-tanzu/velero/pkg/apis/velero/v1"
 	clientset "github.com/vmware-tanzu/velero/pkg/generated/clientset/versioned"
 	"github.com/vmware-tanzu/velero/pkg/label"
+	"github.com/vmware-tanzu/velero/pkg/nodeagent"
 	"github.com/vmware-tanzu/velero/pkg/repository"
 	"github.com/vmware-tanzu/velero/pkg/util/boolptr"
+	"github.com/vmware-tanzu/velero/pkg/util/kube"
 )
 
 type RestoreData struct {
@@ -53,10 +58,13 @@ type restorer struct {
 	repoEnsurer  *repository.RepositoryEnsurer
 	veleroClient clientset.Interface
 	pvcClient    corev1client.PersistentVolumeClaimsGetter
+	podClient    corev1client.PodsGetter
+	kubeClient   kubernetes.Interface
 
-	resultsLock sync.Mutex
-	results     map[string]chan *velerov1api.PodVolumeRestore
-	log         logrus.FieldLogger
+	resultsLock    sync.Mutex
+	results        map[string]chan *velerov1api.PodVolumeRestore
+	nodeAgentCheck chan error
+	log            logrus.FieldLogger
 }
 
 func newRestorer(
@@ -66,6 +74,8 @@ func newRestorer(
 	podVolumeRestoreInformer cache.SharedIndexInformer,
 	veleroClient clientset.Interface,
 	pvcClient corev1client.PersistentVolumeClaimsGetter,
+	podClient corev1client.PodsGetter,
+	kubeClient kubernetes.Interface,
 	log logrus.FieldLogger,
 ) *restorer {
 	r := &restorer{
@@ -74,6 +84,8 @@ func newRestorer(
 		repoEnsurer:  repoEnsurer,
 		veleroClient: veleroClient,
 		pvcClient:    pvcClient,
+		podClient:    podClient,
+		kubeClient:   kubeClient,
 
 		results: make(map[string]chan *velerov1api.PodVolumeRestore),
 		log:     log,
@@ -108,6 +120,10 @@ func (r *restorer) RestorePodVolumes(data RestoreData) []error {
 		return nil
 	}
 
+	if err := nodeagent.IsRunning(r.ctx, r.kubeClient, data.Restore.Namespace); err != nil {
+		return []error{errors.Wrapf(err, "error to check node agent status")}
+	}
+
 	repositoryType, err := getVolumesRepositoryType(volumesToRestore)
 	if err != nil {
 		return []error{err}
@@ -129,6 +145,8 @@ func (r *restorer) RestorePodVolumes(data RestoreData) []error {
 	r.results[resultsKey(data.Pod.Namespace, data.Pod.Name)] = resultsChan
 	r.resultsLock.Unlock()
 
+	r.nodeAgentCheck = make(chan error)
+
 	var (
 		errs        []error
 		numRestores int
@@ -161,6 +179,40 @@ func (r *restorer) RestorePodVolumes(data RestoreData) []error {
 		numRestores++
 	}
 
+	checkCtx, checkCancel := context.WithCancel(context.Background())
+	go func() {
+		nodeName := ""
+
+		checkFunc := func(ctx context.Context) (bool, error) {
+			newObj, err := r.kubeClient.CoreV1().Pods(data.Pod.Namespace).Get(ctx, data.Pod.Name, metav1.GetOptions{})
+			if err != nil {
+				return false, err
+			}
+
+			nodeName = newObj.Spec.NodeName
+
+			err = kube.IsPodScheduled(newObj)
+			if err != nil {
+				return false, nil
+			} else {
+				return true, nil
+			}
+		}
+
+		err := wait.PollWithContext(checkCtx, time.Millisecond*500, time.Minute*10, checkFunc)
+		if err == wait.ErrWaitTimeout {
+			r.log.WithError(err).Error("Restoring pod is not scheduled until timeout or cancel, disengage")
+		} else if err != nil {
+			r.log.WithError(err).Error("Failed to check node-agent pod status, disengage")
+		} else {
+			err = nodeagent.IsRunningInNode(checkCtx, data.Restore.Namespace, nodeName, r.podClient)
+			if err != nil {
+				r.log.WithField("node", nodeName).WithError(err).Error("node-agent pod is not running in node, abort the restore")
+				r.nodeAgentCheck <- errors.Wrapf(err, "node-agent pod is not running in node %s", nodeName)
+			}
+		}
+	}()
+
 ForEachVolume:
 	for i := 0; i < numRestores; i++ {
 		select {
@@ -171,9 +223,17 @@ ForEachVolume:
 			if res.Status.Phase == velerov1api.PodVolumeRestorePhaseFailed {
 				errs = append(errs, errors.Errorf("pod volume restore failed: %s", res.Status.Message))
 			}
+		case err := <-r.nodeAgentCheck:
+			errs = append(errs, err)
+			break ForEachVolume
 		}
 	}
 
+	// This is to prevent the case that resultsChan is signaled before nodeAgentCheck though this is unlikely possible.
+	// One possible case is that the CR is edited and set to an ending state manually, either completed or failed.
+	// In this case, we must notify the check routine to stop.
+	checkCancel()
+
 	r.resultsLock.Lock()
 	delete(r.results, resultsKey(data.Pod.Namespace, data.Pod.Name))
 	r.resultsLock.Unlock()
diff --git a/pkg/podvolume/restorer_factory.go b/pkg/podvolume/restorer_factory.go
index 3432f4be3..e4f2ce9c1 100644
--- a/pkg/podvolume/restorer_factory.go
+++ b/pkg/podvolume/restorer_factory.go
@@ -23,6 +23,7 @@ import (
 	"github.com/pkg/errors"
 	"github.com/sirupsen/logrus"
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
+	"k8s.io/client-go/kubernetes"
 	corev1client "k8s.io/client-go/kubernetes/typed/core/v1"
 	"k8s.io/client-go/tools/cache"
 
@@ -42,6 +43,8 @@ func NewRestorerFactory(repoLocker *repository.RepoLocker,
 	repoEnsurer *repository.RepositoryEnsurer,
 	veleroClient clientset.Interface,
 	pvcClient corev1client.PersistentVolumeClaimsGetter,
+	podClient corev1client.PodsGetter,
+	kubeClient kubernetes.Interface,
 	repoInformerSynced cache.InformerSynced,
 	log logrus.FieldLogger) RestorerFactory {
 	return &restorerFactory{
@@ -49,6 +52,8 @@ func NewRestorerFactory(repoLocker *repository.RepoLocker,
 		repoEnsurer:        repoEnsurer,
 		veleroClient:       veleroClient,
 		pvcClient:          pvcClient,
+		podClient:          podClient,
+		kubeClient:         kubeClient,
 		repoInformerSynced: repoInformerSynced,
 		log:                log,
 	}
@@ -59,6 +64,8 @@ type restorerFactory struct {
 	repoEnsurer        *repository.RepositoryEnsurer
 	veleroClient       clientset.Interface
 	pvcClient          corev1client.PersistentVolumeClaimsGetter
+	podClient          corev1client.PodsGetter
+	kubeClient         kubernetes.Interface
 	repoInformerSynced cache.InformerSynced
 	log                logrus.FieldLogger
 }
@@ -74,7 +81,7 @@ func (rf *restorerFactory) NewRestorer(ctx context.Context, restore *velerov1api
 		},
 	)
 
-	r := newRestorer(ctx, rf.repoLocker, rf.repoEnsurer, informer, rf.veleroClient, rf.pvcClient, rf.log)
+	r := newRestorer(ctx, rf.repoLocker, rf.repoEnsurer, informer, rf.veleroClient, rf.pvcClient, rf.podClient, rf.kubeClient, rf.log)
 
 	go informer.Run(ctx.Done())
 	if !cache.WaitForCacheSync(ctx.Done(), informer.HasSynced, rf.repoInformerSynced) {
diff --git a/pkg/util/kube/pod.go b/pkg/util/kube/pod.go
index 4e589c4f0..5d0b0f7f0 100644
--- a/pkg/util/kube/pod.go
+++ b/pkg/util/kube/pod.go
@@ -23,12 +23,38 @@ import (
 // IsPodRunning does a well-rounded check to make sure the specified pod is running stably.
 // If not, return the error found
 func IsPodRunning(pod *corev1api.Pod) error {
+	return isPodScheduledInStatus(pod, func(pod *corev1api.Pod) error {
+		if pod.Status.Phase != corev1api.PodRunning {
+			return errors.New("pod is not running")
+		}
+
+		return nil
+	})
+}
+
+// IsPodScheduled does a well-rounded check to make sure the specified pod has been scheduled into a node and in a stable status.
+// If not, return the error found
+func IsPodScheduled(pod *corev1api.Pod) error {
+	return isPodScheduledInStatus(pod, func(pod *corev1api.Pod) error {
+		if pod.Status.Phase != corev1api.PodRunning && pod.Status.Phase != corev1api.PodPending {
+			return errors.New("pod is running or pending")
+		}
+
+		return nil
+	})
+}
+
+func isPodScheduledInStatus(pod *corev1api.Pod, statusCheckFunc func(*corev1api.Pod) error) error {
+	if pod == nil {
+		return errors.New("invalid input pod")
+	}
+
 	if pod.Spec.NodeName == "" {
 		return errors.Errorf("pod is not scheduled, name=%s, namespace=%s, phase=%s", pod.Name, pod.Namespace, pod.Status.Phase)
 	}
 
-	if pod.Status.Phase != corev1api.PodRunning {
-		return errors.Errorf("pod is not running, name=%s, namespace=%s, phase=%s", pod.Name, pod.Namespace, pod.Status.Phase)
+	if err := statusCheckFunc(pod); err != nil {
+		return errors.Wrapf(err, "pod is not in the expected status, name=%s, namespace=%s, phase=%s", pod.Name, pod.Namespace, pod.Status.Phase)
 	}
 
 	if pod.DeletionTimestamp != nil {