diff --git a/pw_rpc/BUILD.bazel b/pw_rpc/BUILD.bazel
index 3d911c8..a132124 100644
--- a/pw_rpc/BUILD.bazel
+++ b/pw_rpc/BUILD.bazel
@@ -115,6 +115,7 @@
         "//pw_span",
         "//pw_status",
         "//pw_sync:lock_annotations",
+        "//pw_sync:mutex",
     ],
 )
 
diff --git a/pw_rpc/docs.rst b/pw_rpc/docs.rst
index e58960a..920ec56 100644
--- a/pw_rpc/docs.rst
+++ b/pw_rpc/docs.rst
@@ -1178,7 +1178,7 @@
   Enable global synchronization for RPC calls. If this is set, a backend must
   be configured for pw_sync:mutex.
 
-  This is disabled by default.
+  This is enabled by default.
 
 .. c:macro:: PW_RPC_DYNAMIC_ALLOCATION
 
diff --git a/pw_rpc/public/pw_rpc/internal/config.h b/pw_rpc/public/pw_rpc/internal/config.h
index 42e4ebb..e9f3e74 100644
--- a/pw_rpc/public/pw_rpc/internal/config.h
+++ b/pw_rpc/public/pw_rpc/internal/config.h
@@ -46,7 +46,7 @@
 // Enable global synchronization for RPC calls. If this is set, a backend must
 // be configured for pw_sync:mutex.
 #ifndef PW_RPC_USE_GLOBAL_MUTEX
-#define PW_RPC_USE_GLOBAL_MUTEX 0
+#define PW_RPC_USE_GLOBAL_MUTEX 1
 #endif  // PW_RPC_USE_GLOBAL_MUTEX
 
 // Whether pw_rpc should use dynamic memory allocation internally. If enabled,