diff --git a/controllers/async_reconciler.go b/controllers/async_reconciler.go
index 85238ba958a..808e9531fc5 100644
--- a/controllers/async_reconciler.go
+++ b/controllers/async_reconciler.go
@@ -1,31 +1,72 @@
+/*
+Copyright 2021 The Kubernetes Authors.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
 package controllers
 
 import (
 	"context"
+	"reflect"
+	"sync"
+
+	"github.com/pkg/errors"
+
 	kerrors "k8s.io/apimachinery/pkg/util/errors"
 	"sigs.k8s.io/cluster-api-provider-azure/azure"
 )
 
+// asyncReconciler executes multiple reconcilers simultaneously and stores the output in results.
 type asyncReconciler struct {
-	results chan error
+	wg      sync.WaitGroup
+	results []result
 }
 
-func NewAsyncReconciler() asyncReconciler {
+// result represents the outcome of a reconilitation operation along with some metadata.
+type result struct {
+	err        error
+	reconciler azure.Reconciler
+}
+
+// newAsyncReconciler returns a new instance of asyncReconciler.
+func newAsyncReconciler() asyncReconciler {
 	return asyncReconciler{}
 }
 
-func (ar *asyncReconciler) submit(ctx context.Context, task azure.Reconciler) {
+// submit initiates a go routine for the reconciler and appends the result to results.
+func (ar *asyncReconciler) submit(ctx context.Context, reconciler azure.Reconciler) {
+	ar.wg.Add(1)
 	go func() {
-		ar.results <- task.Reconcile(ctx)
-
+		err := reconciler.Reconcile(ctx)
+		ar.results = append(ar.results, result{err, reconciler})
+		ar.wg.Done()
 	}()
 }
 
+// wait waits for all pending reconcilers to complete.
 func (ar *asyncReconciler) wait() error {
+	ar.wg.Wait()
+
+	defer func() {
+		ar.results = []result{}
+	}()
+
 	var errs []error
-	for r := range ar.results {
-		if r != nil {
-			errs = append(errs, r)
+	for _, r := range ar.results {
+		if r.err != nil {
+			reconcilerImpl := reflect.TypeOf(r.reconciler)
+			errs = append(errs, errors.Wrapf(r.err, "failed to reconcile %s", reconcilerImpl.Name()))
 		}
 	}
 
diff --git a/controllers/azuremachine_reconciler.go b/controllers/azuremachine_reconciler.go
index a1cbf649562..43b35024a63 100644
--- a/controllers/azuremachine_reconciler.go
+++ b/controllers/azuremachine_reconciler.go
@@ -78,36 +78,26 @@ func (s *azureMachineService) Reconcile(ctx context.Context) error {
 	ctx, span := tele.Tracer().Start(ctx, "controllers.azureMachineService.Reconcile")
 	defer span.End()
 
-	if err := s.publicIPsSvc.Reconcile(ctx); err != nil {
-		return errors.Wrap(err, "failed to create public IP")
+	ar := newAsyncReconciler()
+
+	ar.submit(ctx, s.publicIPsSvc)
+	ar.submit(ctx, s.inboundNatRulesSvc)
+	ar.submit(ctx, s.networkInterfacesSvc)
+	ar.submit(ctx, s.availabilitySetsSvc)
+	if err := ar.wait(); err != nil {
+		return err
 	}
 
-	if err := s.inboundNatRulesSvc.Reconcile(ctx); err != nil {
-		return errors.Wrap(err, "failed to create inbound NAT rule")
+	ar.submit(ctx, s.virtualMachinesSvc)
+	if err := ar.wait(); err != nil {
+		return err
 	}
 
-	if err := s.networkInterfacesSvc.Reconcile(ctx); err != nil {
-		return errors.Wrap(err, "failed to create network interface")
-	}
-
-	if err := s.availabilitySetsSvc.Reconcile(ctx); err != nil {
-		return errors.Wrap(err, "failed to create availability set")
-	}
-
-	if err := s.virtualMachinesSvc.Reconcile(ctx); err != nil {
-		return errors.Wrap(err, "failed to create virtual machine")
-	}
-
-	if err := s.roleAssignmentsSvc.Reconcile(ctx); err != nil {
-		return errors.Wrap(err, "unable to create role assignment")
-	}
-
-	if err := s.vmExtensionsSvc.Reconcile(ctx); err != nil {
-		return errors.Wrap(err, "unable to create vm extension")
-	}
-
-	if err := s.tagsSvc.Reconcile(ctx); err != nil {
-		return errors.Wrap(err, "unable to update tags")
+	ar.submit(ctx, s.roleAssignmentsSvc)
+	ar.submit(ctx, s.vmExtensionsSvc)
+	ar.submit(ctx, s.tagsSvc)
+	if err := ar.wait(); err != nil {
+		return err
 	}
 
 	return nil