diff --git a/rb/lib/selenium/webdriver/bidi.rb b/rb/lib/selenium/webdriver/bidi.rb
index a07acc1c8d95f..21a78b0361a4e 100644
--- a/rb/lib/selenium/webdriver/bidi.rb
+++ b/rb/lib/selenium/webdriver/bidi.rb
@@ -37,7 +37,7 @@ def callbacks
       end
 
       def session
-        Session.new(self)
+        @session ||= Session.new(self)
       end
 
       def send_cmd(method, **params)
diff --git a/rb/lib/selenium/webdriver/common/driver.rb b/rb/lib/selenium/webdriver/common/driver.rb
index 398337041b3ad..c24e8ec28ae66 100644
--- a/rb/lib/selenium/webdriver/common/driver.rb
+++ b/rb/lib/selenium/webdriver/common/driver.rb
@@ -71,6 +71,7 @@ def for(browser, opts = {})
       def initialize(bridge: nil, listener: nil, **opts)
         @service_manager = nil
         @devtools = nil
+        @bidi = nil
         bridge ||= create_bridge(**opts)
         add_extensions(bridge.browser)
         @bridge = listener ? Support::EventFiringBridge.new(bridge, listener) : bridge
@@ -174,6 +175,7 @@ def quit
       ensure
         @service_manager&.stop
         @devtools&.close
+        @bidi&.close
       end
 
       #
@@ -181,7 +183,10 @@ def quit
       #
 
       def close
-        bridge.close
+        # If no top-level browsing contexts are open after calling close,
+        # it indicates that the WebDriver session is closed.
+        # If the WebDriver session is closed, the BiDi session also needs to be closed.
+        bridge.close.tap { |handles| @bidi&.close if handles&.empty? }
       end
 
       #
diff --git a/rb/spec/integration/selenium/webdriver/bidi/browsing_context_spec.rb b/rb/spec/integration/selenium/webdriver/bidi/browsing_context_spec.rb
index 8fa9a8405c5af..2ba0047183d4b 100644
--- a/rb/spec/integration/selenium/webdriver/bidi/browsing_context_spec.rb
+++ b/rb/spec/integration/selenium/webdriver/bidi/browsing_context_spec.rb
@@ -22,7 +22,7 @@
 module Selenium
   module WebDriver
     class BiDi
-      describe BrowsingContext, exclusive: {browser: %i[chrome firefox]} do
+      describe BrowsingContext, only: {browser: %i[chrome edge firefox]} do
         before { reset_driver!(web_socket_url: true) }
         after { quit_driver }
 
@@ -32,50 +32,47 @@ class BiDi
           expect(browsing_context.id).to eq(id)
         end
 
-        it 'can create a window without a reference context' do
+        it 'can create a window' do
           browsing_context = described_class.new(driver: driver, type: :window)
           expect(browsing_context.id).not_to be_nil
         end
 
-        it 'can create a window with a reference context', except: {browser: :chrome} do
+        it 'can create a window with a reference context', except: {browser: %i[chrome edge]} do
           browsing_context = described_class.new(driver: driver, type: :window,
                                                  reference_context: driver.window_handle)
           expect(browsing_context.id).not_to be_nil
         end
 
-        it 'can create a tab without a reference context' do
+        it 'can create a tab' do
           browsing_context = described_class.new(driver: driver, type: :tab)
           expect(browsing_context.id).not_to be_nil
         end
 
-        it 'can create a tab with a reference context', except: {browser: :chrome} do
+        it 'can create a tab with a reference context', except: {browser: %i[chrome edge]} do
           browsing_context = described_class.new(driver: driver, type: :tab, reference_context: driver.window_handle)
           expect(browsing_context.id).not_to be_nil
         end
 
-        it 'can navigate to a url without a readiness state',
-           except: {browser: :chrome, reason: 'navigation_id is not nil'} do
+        it 'can navigate to a url' do
           browsing_context = described_class.new(driver: driver, type: :tab)
 
           info = browsing_context.navigate url: url_for('/bidi/logEntryAdded.html')
 
           expect(browsing_context.id).not_to be_nil
-          expect(info.navigation_id).to be_nil
           expect(info.url).to include('/bidi/logEntryAdded.html')
         end
 
-        it 'can navigate to a url with readiness state', except: {browser: :chrome} do
+        it 'can navigate to a url with readiness state' do
           browsing_context = described_class.new(driver: driver, type: :tab)
 
           info = browsing_context.navigate url: url_for('/bidi/logEntryAdded.html'),
                                            readiness_state: :complete
 
           expect(browsing_context.id).not_to be_nil
-          expect(info.navigation_id).to be_nil
           expect(info.url).to include('/bidi/logEntryAdded.html')
         end
 
-        it 'can get tree with a child', except: {browser: :chrome} do
+        it 'can get tree with a child', except: {browser: %i[chrome edge]} do
           browsing_context_id = driver.window_handle
           parent_window = described_class.new(driver: driver, browsing_context_id: browsing_context_id)
           parent_window.navigate(url: url_for('iframes.html'),
@@ -87,7 +84,7 @@ class BiDi
           expect(context_info.children[0]['url']).to include('formPage.html')
         end
 
-        it 'can get tree with depth', except: {browser: :chrome, reason: 'not yet implemented'} do
+        it 'can get tree with depth', except: {browser: %i[chrome edge], reason: 'not yet implemented'} do
           browsing_context_id = driver.window_handle
           parent_window = described_class.new(driver: driver, browsing_context_id: browsing_context_id)
           parent_window.navigate(url: url_for('iframes.html'),
diff --git a/rb/spec/integration/selenium/webdriver/bidi_spec.rb b/rb/spec/integration/selenium/webdriver/bidi_spec.rb
index ebc583ec2a8fd..497f066ad74df 100644
--- a/rb/spec/integration/selenium/webdriver/bidi_spec.rb
+++ b/rb/spec/integration/selenium/webdriver/bidi_spec.rb
@@ -23,7 +23,12 @@ module Selenium
   module WebDriver
     describe BiDi, only: {browser: %i[chrome edge firefox]} do
       before { reset_driver!(web_socket_url: true) }
-      after { quit_driver }
+
+      after do
+        quit_driver
+      rescue Selenium::WebDriver::Error::InvalidSessionIdError
+        # do nothing
+      end
 
       it 'gets session status' do
         status = driver.bidi.session.status
@@ -52,6 +57,32 @@ module WebDriver
           level: BiDi::LogInspector::LOG_LEVEL[:ERROR]
         )
       end
+
+      it 'does not close BiDi session if at least one window is opened' do
+        status = driver.bidi.session.status
+        expect(status.ready).to be false
+        expect(status.message).to be_a String
+
+        driver.switch_to.new_window(:window)
+        driver.switch_to.new_window(:tab)
+        driver.switch_to.new_window(:tab)
+
+        driver.close
+
+        status_after_closing = driver.bidi.session.status
+        expect(status_after_closing.ready).to be false
+        expect(status_after_closing.message).to be_a String
+      end
+
+      it 'closes BiDi session if last window is closed' do
+        status = driver.bidi.session.status
+        expect(status.ready).to be false
+        expect(status.message).to be_a String
+
+        driver.close
+
+        expect { driver.bidi.session.status }.to raise_error(IOError)
+      end
     end
   end
 end