diff --git a/src/CodexAcpClient.ts b/src/CodexAcpClient.ts
index 68b74e00..9903cfbf 100644
--- a/src/CodexAcpClient.ts
+++ b/src/CodexAcpClient.ts
@@ -34,6 +34,9 @@ import type {
     AccountUpdatedNotification,
     GetAccountResponse,
     ListMcpServerStatusResponse,
+    McpServerOauthLoginCompletedNotification,
+    McpServerOauthLoginParams,
+    McpServerOauthLoginResponse,
     Model,
     ReviewTarget,
     SkillsListParams,
@@ -1075,6 +1078,19 @@ export class CodexAcpClient {
         return this.codexClient.listMcpServerStatus({});
     }
 
+    async mcpServerOauthLogin(
+        params: McpServerOauthLoginParams,
+    ): Promise<McpServerOauthLoginResponse> {
+        return await this.codexClient.mcpServerOauthLogin(params);
+    }
+
+    async awaitMcpServerOauthLoginCompleted(
+        name: string,
+        threadId: string,
+    ): Promise<McpServerOauthLoginCompletedNotification> {
+        return await this.codexClient.awaitMcpServerOauthLoginCompleted(name, threadId);
+    }
+
     async listSessions(request: acp.ListSessionsRequest): Promise<acp.ListSessionsResponse> {
         const sourceKinds: ThreadSourceKind[] = [
             "cli",
diff --git a/src/CodexAcpServer.ts b/src/CodexAcpServer.ts
index 2c7937f3..d2953d7e 100644
--- a/src/CodexAcpServer.ts
+++ b/src/CodexAcpServer.ts
@@ -2182,7 +2182,32 @@ export class CodexAcpServer {
             }
             : mcpStartup;
 
-        for (const update of CodexEventHandler.createMcpStartupUpdates(filteredStartup)) {
+        const failuresAfterOauth: typeof filteredStartup.failed = [];
+        const readyAfterOauth = [...filteredStartup.ready];
+        for (const failure of filteredStartup.failed) {
+            if (failure.failureReason !== "reauthenticationRequired"
+                || !clientSupportsUrlElicitation(this.clientCapabilities)) {
+                failuresAfterOauth.push(failure);
+                continue;
+            }
+            try {
+                const authenticated = await this.authenticateMcpServer(sessionId, failure.server);
+                if (authenticated) {
+                    readyAfterOauth.push(failure.server);
+                } else {
+                    failuresAfterOauth.push(failure);
+                }
+            } catch (error) {
+                logger.error(`Failed to authenticate MCP server ${failure.server}`, error);
+                failuresAfterOauth.push(failure);
+            }
+        }
+
+        for (const update of CodexEventHandler.createMcpStartupUpdates({
+            ...filteredStartup,
+            ready: readyAfterOauth,
+            failed: failuresAfterOauth,
+        })) {
             await this.connection.notify(acp.methods.client.session.update, {
                 sessionId,
                 update,
@@ -2190,6 +2215,35 @@ export class CodexAcpServer {
         }
     }
 
+    private async authenticateMcpServer(sessionId: string, serverName: string): Promise<boolean> {
+        const elicitationId = `mcp-oauth-${randomUUID()}`;
+        const completed = this.codexAcpClient.awaitMcpServerOauthLoginCompleted(serverName, sessionId);
+        const login = await this.codexAcpClient.mcpServerOauthLogin({
+            name: serverName,
+            threadId: sessionId,
+        });
+        const elicitation = Promise.resolve(this.connection.request(
+            acp.methods.client.elicitation.create,
+            {
+                mode: "url",
+                sessionId,
+                message: `Authenticate with MCP server ${serverName}`,
+                url: login.authorizationUrl,
+                elicitationId,
+            },
+        ));
+        const first = await Promise.race([
+            completed.then(result => ({type: "completed" as const, result})),
+            elicitation.then(response => ({type: "elicitation" as const, response})),
+        ]);
+        if (first.type === "elicitation" && !acp.CreateElicitationResponse.isAccept(first.response)) {
+            return false;
+        }
+        const result = first.type === "completed" ? first.result : await completed;
+        await this.connection.notify(acp.methods.client.elicitation.complete, {elicitationId});
+        return result.success;
+    }
+
     private trackActivePrompt(sessionId: string): ActivePrompt {
         let resolveCompletion: () => void = () => {};
         const completion = new Promise<void>((resolve) => {
diff --git a/src/CodexAppServerClient.ts b/src/CodexAppServerClient.ts
index 0f802d68..d05aeefd 100644
--- a/src/CodexAppServerClient.ts
+++ b/src/CodexAppServerClient.ts
@@ -19,6 +19,10 @@ import type {
     LogoutAccountResponse,
     McpServerElicitationRequestParams,
     McpServerElicitationRequestResponse,
+    McpServerOauthLoginParams,
+    McpServerOauthLoginResponse,
+    McpServerOauthLoginCompletedNotification,
+    McpServerStartupFailureReason,
     McpServerStartupState,
     McpServerStatusUpdatedNotification,
     ModelListParams,
@@ -90,6 +94,7 @@ export interface ElicitationHandler {
 export type McpStartupFailure = {
     server: string;
     error: string;
+    failureReason?: McpServerStartupFailureReason;
 };
 
 export type McpStartupResult = {
@@ -160,6 +165,7 @@ export class CodexAppServerClient {
                 this.mcpServerStartupStates.set(serverNotification.params.name, {
                     status: serverNotification.params.status,
                     error: serverNotification.params.error,
+                    failureReason: serverNotification.params.failureReason ?? null,
                     version: this.mcpServerStartupVersion,
                 });
                 this.resolveMcpServerStartupResolvers();
@@ -584,6 +590,29 @@ export class CodexAppServerClient {
         return await this.sendRequest({ method: "mcpServerStatus/list", params });
     }
 
+    async mcpServerOauthLogin(params: McpServerOauthLoginParams): Promise<McpServerOauthLoginResponse> {
+        return await this.sendRequest({ method: "mcpServer/oauth/login", params });
+    }
+
+    async awaitMcpServerOauthLoginCompleted(
+        name: string,
+        threadId: string,
+    ): Promise<McpServerOauthLoginCompletedNotification> {
+        return await new Promise((resolve) => {
+            let disposable: {dispose(): void} | undefined;
+            disposable = this.connection.onNotification(
+                "mcpServer/oauthLogin/completed",
+                (event: McpServerOauthLoginCompletedNotification) => {
+                    if (event.name !== name || event.threadId !== threadId) {
+                        return;
+                    }
+                    disposable?.dispose();
+                    resolve(event);
+                },
+            );
+        });
+    }
+
     async accountLogin(params: LoginAccountParams): Promise<LoginAccountResponse> {
         return await this.sendRequest({ method: "account/login/start", params: params });
     }
@@ -942,6 +971,7 @@ export class CodexAppServerClient {
                     failed.push({
                         server: serverName,
                         error: state.error ?? "unknown MCP startup error",
+                        ...(state.failureReason === null ? {} : {failureReason: state.failureReason}),
                     });
                     break;
                 case "cancelled":
@@ -1001,6 +1031,7 @@ export interface ExperimentalThreadSettingsUpdateParams {
 type McpServerStartupSnapshot = {
     status: McpServerStartupState;
     error: string | null;
+    failureReason: McpServerStartupFailureReason | null;
     version: number;
 };
 
diff --git a/src/__tests__/CodexACPAgent/elicitation-events.test.ts b/src/__tests__/CodexACPAgent/elicitation-events.test.ts
index c3d44964..7a9521db 100644
--- a/src/__tests__/CodexACPAgent/elicitation-events.test.ts
+++ b/src/__tests__/CodexACPAgent/elicitation-events.test.ts
@@ -702,6 +702,42 @@ describe('Elicitation Events', () => {
     });
 
     describe('URL mode elicitation', () => {
+        it('maps MCP OAuth login to ACP URL elicitation and completes it', async () => {
+            const agent = fixture.getCodexAcpAgent();
+            const codexClient = fixture.getCodexAcpClient();
+            await agent.initialize({
+                protocolVersion: acp.PROTOCOL_VERSION,
+                clientCapabilities: { elicitation: { url: {} } },
+            });
+            fixture.setElicitationResponse({action: 'accept'});
+            const oauthLogin = vi.spyOn(codexClient, 'mcpServerOauthLogin').mockResolvedValue({
+                authorizationUrl: 'https://example.com/oauth/authorize',
+            });
+            vi.spyOn(codexClient, 'awaitMcpServerOauthLoginCompleted').mockResolvedValue({
+                name: 'linear',
+                threadId: sessionId,
+                success: true,
+            });
+
+            await expect((agent as any).authenticateMcpServer(sessionId, 'linear')).resolves.toBe(true);
+
+            expect(oauthLogin).toHaveBeenCalledWith({name: 'linear', threadId: sessionId});
+            const events = fixture.getAcpConnectionEvents([]);
+            expect(events[0]).toMatchObject({
+                method: 'createElicitation',
+                args: [{
+                    mode: 'url',
+                    sessionId,
+                    message: 'Authenticate with MCP server linear',
+                    url: 'https://example.com/oauth/authorize',
+                }],
+            });
+            expect(events[1]).toMatchObject({
+                method: 'completeElicitation',
+                args: [{elicitationId: expect.stringMatching(/^mcp-oauth-/)}],
+            });
+        });
+
         it('should use ACP URL elicitation when the client supports it', async () => {
             const { promptPromise, completeTurn } = await setupSessionWithPendingPromptAndCapabilities({
                 elicitation: { url: {} },