diff --git a/packages/use-query-params-adapter-react-router-6/src/index.ts b/packages/use-query-params-adapter-react-router-6/src/index.ts
index c1bb6ab..2c8d027 100644
--- a/packages/use-query-params-adapter-react-router-6/src/index.ts
+++ b/packages/use-query-params-adapter-react-router-6/src/index.ts
@@ -1,4 +1,4 @@
-import { useContext } from 'react';
+import { useCallback, useContext, useEffect, useRef } from 'react';
 import {
   UNSAFE_NavigationContext,
   useNavigate,
@@ -10,6 +10,48 @@ import {
   QueryParamAdapterComponent,
 } from 'use-query-params';
 
+// Prevent premature calls to useNavigate() from failing with "You should call
+// navigate() in a React.useEffect(), not when your component is first
+// rendered".
+//
+// This warning happens even when navigate() is called from a useEffect(),
+// because that useEffect is called before useNavigate's internal useEffect
+// (parents' effects are invoked after children's effects).
+//
+// To get around this, enqueue premature useNavigate() calls, and process the
+// queue in a useEffect() (which is called *after* useNavigate's effect).
+//
+// See: https://github.com/pbeshai/use-query-params/issues/211
+function useNavigateDeferred() {
+  const realNavigate = useNavigate();
+  const navigateState = useRef({ isValid: false, navigate: realNavigate, queue: [] });
+
+  if(navigateState.current.navigate !== realNavigate) {
+    navigateState.current.isValid = false
+  }
+
+  const navigate = useCallback((to: any, options: any) => {
+    if(navigateState.current.isValid) {
+      navigateState.current.navigate(to, options);
+    }
+    else {
+      navigateState.current.queue.push([to, options]);
+    }
+  }, [])
+
+  useEffect(() => {
+    navigateState.current.isValid = true
+    navigateState.current.navigate = realNavigate
+
+    while(navigateState.current.queue.length > 0) {
+      const [to, options] = navigateState.current.queue.shift()
+      navigateState.current.navigate(to, options)
+    }
+  }, [realNavigate])
+
+  return navigate
+}
+
 /**
  * Query Param Adapter for react-router v6
  */
@@ -22,10 +64,11 @@ export const ReactRouter6Adapter: QueryParamAdapterComponent = ({
   // useLocation() output in case of some kind of breaking change we miss.
   // see: https://github.com/remix-run/react-router/blob/f3d87dcc91fbd6fd646064b88b4be52c15114603/packages/react-router-dom/index.tsx#L113-L131
   const { navigator } = useContext(UNSAFE_NavigationContext);
-  const navigate = useNavigate();
+  const navigate = useNavigateDeferred()
   const router = useContext(UNSAFE_DataRouterContext)?.router;
   const location = useLocation();
 
+
   const adapter: QueryParamAdapter = {
     replace(location) {
       navigate(location.search || '?', {