diff --git a/pandas/_libs/index.pyx b/pandas/_libs/index.pyx
index 3351bb7cac7d6..10817a6ae61bd 100644
--- a/pandas/_libs/index.pyx
+++ b/pandas/_libs/index.pyx
@@ -288,10 +288,12 @@ cdef class IndexEngine:
             object val
             int count = 0, count_missing = 0
             Py_ssize_t i, j, n, n_t, n_alloc
+            bint d_has_nan = False, stargets_has_nan = False, need_nan_check = True
 
         self._ensure_mapping_populated()
         values = np.array(self._get_index_values(), copy=False)
         stargets = set(targets)
+
         n = len(values)
         n_t = len(targets)
         if n > 10_000:
@@ -321,6 +323,7 @@ cdef class IndexEngine:
 
         if stargets:
             # otherwise, map by iterating through all items in the index
+
             for i in range(n):
                 val = values[i]
                 if val in stargets:
@@ -328,12 +331,27 @@ cdef class IndexEngine:
                         d[val] = []
                     d[val].append(i)
 
+                elif util.is_nan(val):
+                    # GH#35392
+                    if need_nan_check:
+                        # Do this check only once
+                        stargets_has_nan = any(util.is_nan(x) for x in stargets)
+                        need_nan_check = False
+
+                    if stargets_has_nan:
+                        if not d_has_nan:
+                            # use a canonical nan object
+                            d[np.nan] = []
+                            d_has_nan = True
+                        d[np.nan].append(i)
+
         for i in range(n_t):
             val = targets[i]
 
             # found
-            if val in d:
-                for j in d[val]:
+            if val in d or (d_has_nan and util.is_nan(val)):
+                key = val if not util.is_nan(val) else np.nan
+                for j in d[key]:
 
                     # realloc if needed
                     if count >= n_alloc:
diff --git a/pandas/tests/indexes/object/test_indexing.py b/pandas/tests/indexes/object/test_indexing.py
index a683e9faed1f2..b5b32771d201e 100644
--- a/pandas/tests/indexes/object/test_indexing.py
+++ b/pandas/tests/indexes/object/test_indexing.py
@@ -64,6 +64,27 @@ def test_get_indexer_with_NA_values(
         tm.assert_numpy_array_equal(result, expected)
 
 
+class TestGetIndexerNonUnique:
+    # TODO: test with matching-but-not-identical nans
+    def test_get_indexer_non_unique_nas(self, nulls_fixture):
+        # even though this isn't non-unique, this should still work
+        index = Index(["a", "b", nulls_fixture])
+        indexer, missing = index.get_indexer_non_unique([nulls_fixture])
+
+        expected_indexer = np.array([2], dtype=np.intp)
+        expected_missing = np.array([], dtype=np.intp)
+        tm.assert_numpy_array_equal(indexer, expected_indexer)
+        tm.assert_numpy_array_equal(missing, expected_missing)
+
+        # actually non-unique
+        index = Index(["a", nulls_fixture, "b", nulls_fixture])
+        indexer, missing = index.get_indexer_non_unique([nulls_fixture])
+
+        expected_indexer = np.array([1, 3], dtype=np.intp)
+        tm.assert_numpy_array_equal(indexer, expected_indexer)
+        tm.assert_numpy_array_equal(missing, expected_missing)
+
+
 class TestSliceLocs:
     @pytest.mark.parametrize(
         "in_slice,expected",
diff --git a/pandas/tests/indexes/test_indexing.py b/pandas/tests/indexes/test_indexing.py
index 5f6d0155ae6cf..6ca3bc0b155ee 100644
--- a/pandas/tests/indexes/test_indexing.py
+++ b/pandas/tests/indexes/test_indexing.py
@@ -25,6 +25,7 @@
     Int64Index,
     IntervalIndex,
     MultiIndex,
+    NaT,
     PeriodIndex,
     RangeIndex,
     Series,
@@ -294,3 +295,50 @@ def test_maybe_cast_slice_bound_kind_deprecated(index):
     with tm.assert_produces_warning(FutureWarning):
         # pass as positional
         index._maybe_cast_slice_bound(index[0], "left", "loc")
+
+
+@pytest.mark.parametrize(
+    "idx,target,expected",
+    [
+        ([np.nan, "var1", np.nan], [np.nan], np.array([0, 2], dtype=np.intp)),
+        (
+            [np.nan, "var1", np.nan],
+            [np.nan, "var1"],
+            np.array([0, 2, 1], dtype=np.intp),
+        ),
+        (
+            np.array([np.nan, "var1", np.nan], dtype=object),
+            [np.nan],
+            np.array([0, 2], dtype=np.intp),
+        ),
+        (
+            DatetimeIndex(["2020-08-05", NaT, NaT]),
+            [NaT],
+            np.array([1, 2], dtype=np.intp),
+        ),
+        (
+            np.array([np.nan, -1, np.nan], dtype=object),
+            [np.nan],
+            np.array([0, 2], dtype=np.intp),
+        ),
+        (
+            np.array([np.nan, -1, np.nan], dtype=object),
+            [-1],
+            np.array([1], dtype=np.intp),
+        ),
+        (
+            np.array([np.nan, -1, np.nan], dtype=object),
+            [np.nan, -1],
+            np.array([0, 2, 1], dtype=np.intp),
+        ),
+        (
+            [float("NaN"), "var1", float("NaN")],
+            [float("NaN")],
+            np.array([0, 2], dtype=np.intp),
+        ),
+    ],
+)
+def test_get_indexer_non_unique_multiple_nans(idx, target, expected):
+    # GH#35392
+    actual = Index(idx).get_indexer_for(target)
+    tm.assert_numpy_array_equal(actual, expected)