diff --git a/executor/analyze.go b/executor/analyze.go
index 40d78666c105b..2c20de123867f 100644
--- a/executor/analyze.go
+++ b/executor/analyze.go
@@ -72,7 +72,7 @@ func (e *AnalyzeExec) Next(ctx context.Context, chk *chunk.Chunk) error {
 		result := <-resultCh
 		if result.Err != nil {
 			err = result.Err
-			if errors.Trace(err) == analyzeWorkerPanic {
+			if errors.Trace(err) == errAnalyzeWorkerPanic {
 				panicCnt++
 			}
 			log.Error(errors.ErrorStack(err))
@@ -116,7 +116,7 @@ type analyzeTask struct {
 	colExec  *AnalyzeColumnsExec
 }
 
-var analyzeWorkerPanic = errors.New("analyze worker panic")
+var errAnalyzeWorkerPanic = errors.New("analyze worker panic")
 
 func (e *AnalyzeExec) analyzeWorker(taskCh <-chan *analyzeTask, resultCh chan<- statistics.AnalyzeResult) {
 	defer func() {
@@ -127,7 +127,7 @@ func (e *AnalyzeExec) analyzeWorker(taskCh <-chan *analyzeTask, resultCh chan<-
 			log.Errorf("analyzeWorker panic stack is:\n%s", buf)
 			metrics.PanicCounter.WithLabelValues(metrics.LabelAnalyze).Inc()
 			resultCh <- statistics.AnalyzeResult{
-				Err: analyzeWorkerPanic,
+				Err: errAnalyzeWorkerPanic,
 			}
 		}
 	}()
diff --git a/executor/builder.go b/executor/builder.go
index 523323f5b95e2..449f57c651013 100644
--- a/executor/builder.go
+++ b/executor/builder.go
@@ -1236,15 +1236,76 @@ func (b *executorBuilder) buildUpdate(v *plan.Update) Executor {
 		b.err = errors.Trace(b.err)
 		return nil
 	}
+	columns2Handle := buildColumns2Handle(v.Schema(), tblID2table)
 	updateExec := &UpdateExec{
-		baseExecutor: newBaseExecutor(b.ctx, nil, v.ExplainID(), selExec),
-		SelectExec:   selExec,
-		OrderedList:  v.OrderedList,
-		tblID2table:  tblID2table,
+		baseExecutor:   newBaseExecutor(b.ctx, nil, v.ExplainID(), selExec),
+		SelectExec:     selExec,
+		OrderedList:    v.OrderedList,
+		tblID2table:    tblID2table,
+		columns2Handle: columns2Handle,
 	}
 	return updateExec
 }
 
+// cols2Handle represents an mapper from column index to handle index.
+type cols2Handle struct {
+	// start/end represent the ordinal range [start, end) of the consecutive columns.
+	start, end int32
+	// handleOrdinal represents the ordinal of the handle column.
+	handleOrdinal int32
+}
+
+// cols2HandleSlice attaches the methods of sort.Interface to []cols2Handle sorting in increasing order.
+type cols2HandleSlice []cols2Handle
+
+// Len implements sort.Interface#Len.
+func (c cols2HandleSlice) Len() int {
+	return len(c)
+}
+
+// Swap implements sort.Interface#Swap.
+func (c cols2HandleSlice) Swap(i, j int) {
+	c[i], c[j] = c[j], c[i]
+}
+
+// Less implements sort.Interface#Less.
+func (c cols2HandleSlice) Less(i, j int) bool {
+	return c[i].start < c[j].start
+}
+
+// findHandle finds the ordinal of the corresponding handle column.
+func (c cols2HandleSlice) findHandle(ordinal int32) (int32, bool) {
+	if c == nil || len(c) == 0 {
+		return 0, false
+	}
+	// find the smallest index of the range that its start great than ordinal.
+	// @see https://godoc.org/sort#Search
+	rangeBehindOrdinal := sort.Search(len(c), func(i int) bool { return c[i].start > ordinal })
+	if rangeBehindOrdinal == 0 {
+		return 0, false
+	}
+	return c[rangeBehindOrdinal-1].handleOrdinal, true
+}
+
+// buildColumns2Handle builds columns to handle mapping.
+func buildColumns2Handle(schema *expression.Schema, tblID2Table map[int64]table.Table) cols2HandleSlice {
+	if len(schema.TblID2Handle) < 2 {
+		// skip buildColumns2Handle mapping if there are only single table.
+		return nil
+	}
+	var cols2Handles cols2HandleSlice
+	for tblID, handleCols := range schema.TblID2Handle {
+		tbl := tblID2Table[tblID]
+		for _, handleCol := range handleCols {
+			offset := getTableOffset(schema, handleCol)
+			end := offset + len(tbl.WritableCols())
+			cols2Handles = append(cols2Handles, cols2Handle{int32(offset), int32(end), int32(handleCol.Index)})
+		}
+	}
+	sort.Sort(cols2Handles)
+	return cols2Handles
+}
+
 func (b *executorBuilder) buildDelete(v *plan.Delete) Executor {
 	tblID2table := make(map[int64]table.Table)
 	for id := range v.SelectPlan.Schema().TblID2Handle {
diff --git a/executor/executor_test.go b/executor/executor_test.go
index 737b6a7698dcd..683557c574c44 100644
--- a/executor/executor_test.go
+++ b/executor/executor_test.go
@@ -2913,7 +2913,7 @@ func (s *testSuite) TestUnsignedDecimalOverflow(c *C) {
 func (s *testSuite) TestIndexJoinTableDualPanic(c *C) {
 	tk := testkit.NewTestKit(c, s.store)
 	tk.MustExec("use test")
-	tk.MustExec("drop table if exists t")
+	tk.MustExec("drop table if exists a")
 	tk.MustExec("create table a (f1 int, f2 varchar(32), primary key (f1))")
 	tk.MustExec("insert into a (f1,f2) values (1,'a'), (2,'b'), (3,'c')")
 	tk.MustQuery("select a.* from a inner join (select 1 as k1,'k2-1' as k2) as k on a.f1=k.k1;").
@@ -2959,3 +2959,70 @@ func (s *testSuite) TestUnionAutoSignedCast(c *C) {
 	tk.MustQuery("select id, v from t5 union select id, v from t7 union select id, v from t6 order by id").
 		Check(testkit.Rows("1 1", "2 -1", "3 -1"))
 }
+
+func (s *testSuite) TestUpdateJoin(c *C) {
+	tk := testkit.NewTestKit(c, s.store)
+	tk.MustExec("use test")
+	tk.MustExec("drop table if exists t1, t2, t3, t4, t5")
+	tk.MustExec("create table t1(k int, v int)")
+	tk.MustExec("create table t2(k int, v int)")
+	tk.MustExec("create table t3(id int auto_increment, k int, v int, primary key(id))")
+	tk.MustExec("create table t4(k int, v int)")
+	tk.MustExec("create table t5(v int, k int, primary key(k))")
+	tk.MustExec("insert into t1 values (1, 1)")
+	tk.MustExec("insert into t4 values (3, 3)")
+
+	// test the normal case that update one row for a single table.
+	tk.MustExec("update t1 set v = 0 where k = 1")
+	tk.MustQuery("select k, v from t1 where k = 1").Check(testkit.Rows("1 0"))
+
+	// test the case that the table with auto_increment or none-null columns as the right table of left join.
+	tk.MustExec("update t1 left join t3 on t1.k = t3.k set t1.v = 1")
+	tk.MustQuery("select k, v from t1").Check(testkit.Rows("1 1"))
+	tk.MustQuery("select id, k, v from t3").Check(testkit.Rows())
+
+	// test left join and the case that the right table has no matching record but has updated the right table columns.
+	tk.MustExec("update t1 left join t2 on t1.k = t2.k set t1.v = t2.v, t2.v = 3")
+	tk.MustQuery("select k, v from t1").Check(testkit.Rows("1 <nil>"))
+	tk.MustQuery("select k, v from t2").Check(testkit.Rows())
+
+	// test the case that the update operation in the left table references data in the right table while data of the right table columns is modified.
+	tk.MustExec("update t1 left join t2 on t1.k = t2.k set t2.v = 3, t1.v = t2.v")
+	tk.MustQuery("select k, v from t1").Check(testkit.Rows("1 <nil>"))
+	tk.MustQuery("select k, v from t2").Check(testkit.Rows())
+
+	// test right join and the case that the left table has no matching record but has updated the left table columns.
+	tk.MustExec("update t2 right join t1 on t2.k = t1.k set t2.v = 4, t1.v = 0")
+	tk.MustQuery("select k, v from t1").Check(testkit.Rows("1 0"))
+	tk.MustQuery("select k, v from t2").Check(testkit.Rows())
+
+	// test the case of right join and left join at the same time.
+	tk.MustExec("update t1 left join t2 on t1.k = t2.k right join t4 on t4.k = t2.k set t1.v = 4, t2.v = 4, t4.v = 4")
+	tk.MustQuery("select k, v from t1").Check(testkit.Rows("1 0"))
+	tk.MustQuery("select k, v from t2").Check(testkit.Rows())
+	tk.MustQuery("select k, v from t4").Check(testkit.Rows("3 4"))
+
+	// test normal left join and the case that the right table has matching rows.
+	tk.MustExec("insert t2 values (1, 10)")
+	tk.MustExec("update t1 left join t2 on t1.k = t2.k set t2.v = 11")
+	tk.MustQuery("select k, v from t2").Check(testkit.Rows("1 11"))
+
+	// test the case of continuously joining the same table and updating the unmatching records.
+	tk.MustExec("update t1 t11 left join t2 on t11.k = t2.k left join t1 t12 on t2.v = t12.k set t12.v = 233, t11.v = 111")
+	tk.MustQuery("select k, v from t1").Check(testkit.Rows("1 111"))
+	tk.MustQuery("select k, v from t2").Check(testkit.Rows("1 11"))
+
+	// test the left join case that the left table has records but all records are null.
+	tk.MustExec("delete from t1")
+	tk.MustExec("delete from t2")
+	tk.MustExec("insert into t1 values (null, null)")
+	tk.MustExec("update t1 left join t2 on t1.k = t2.k set t1.v = 1")
+	tk.MustQuery("select k, v from t1").Check(testkit.Rows("<nil> 1"))
+
+	// test the case that the right table of left join has an primary key.
+	tk.MustExec("insert t5 values(0, 0)")
+	tk.MustExec("update t1 left join t5 on t1.k = t5.k set t1.v = 2")
+	tk.MustQuery("select k, v from t1").Check(testkit.Rows("<nil> 2"))
+	tk.MustQuery("select k, v from t5").Check(testkit.Rows("0 0"))
+
+}
diff --git a/executor/update.go b/executor/update.go
index 908d29d3fd4a3..ab697d7db3cb4 100644
--- a/executor/update.go
+++ b/executor/update.go
@@ -39,6 +39,9 @@ type UpdateExec struct {
 	newRowsData [][]types.Datum // The new values to be set.
 	fetched     bool
 	cursor      int
+	// columns2Handle stores relationship between column ordinal to its table handle.
+	// the columns ordinals is present in ordinal range format, @see executor.cols2Handle
+	columns2Handle cols2HandleSlice
 }
 
 func (e *UpdateExec) exec(schema *expression.Schema) ([]types.Datum, error) {
@@ -62,6 +65,10 @@ func (e *UpdateExec) exec(schema *expression.Schema) ([]types.Datum, error) {
 		for _, col := range cols {
 			offset := getTableOffset(schema, col)
 			end := offset + len(tbl.WritableCols())
+			handleDatum := row[col.Index]
+			if e.canNotUpdate(handleDatum) {
+				continue
+			}
 			handle := row[col.Index].GetInt64()
 			oldData := row[offset:end]
 			newTableData := newData[offset:end]
@@ -71,6 +78,7 @@ func (e *UpdateExec) exec(schema *expression.Schema) ([]types.Datum, error) {
 				// Each matched row is updated once, even if it matches the conditions multiple times.
 				continue
 			}
+
 			// Update row
 			changed, _, _, _, err1 := updateRecord(e.ctx, handle, oldData, newTableData, flags, tbl, false)
 			if err1 == nil {
@@ -92,6 +100,16 @@ func (e *UpdateExec) exec(schema *expression.Schema) ([]types.Datum, error) {
 	return []types.Datum{}, nil
 }
 
+// canNotUpdate checks the handle of a record to decide whether that record
+// can not be updated. The handle is NULL only when it is the inner side of an
+// outer join: the outer row can not match any inner rows, and in this scenario
+// the inner handle field is filled with a NULL value.
+//
+// This fixes: https://github.com/pingcap/tidb/issues/7176.
+func (e *UpdateExec) canNotUpdate(handle types.Datum) bool {
+	return handle.IsNull()
+}
+
 // Next implements the Executor Next interface.
 func (e *UpdateExec) Next(ctx context.Context, chk *chunk.Chunk) error {
 	chk.Reset()
@@ -163,6 +181,10 @@ func (e *UpdateExec) handleErr(colName model.CIStr, rowIdx int, err error) error
 func (e *UpdateExec) composeNewRow(rowIdx int, oldRow []types.Datum) ([]types.Datum, error) {
 	newRowData := types.CopyRow(oldRow)
 	for _, assign := range e.OrderedList {
+		handleIdx, handleFound := e.columns2Handle.findHandle(int32(assign.Col.Index))
+		if handleFound && e.canNotUpdate(oldRow[handleIdx]) {
+			continue
+		}
 		val, err := assign.Expr.Eval(chunk.MutRowFromDatums(newRowData).ToRow())
 
 		if err1 := e.handleErr(assign.Col.ColName, rowIdx, err); err1 != nil {