diff --git a/CHANGELOG.md b/CHANGELOG.md
index 26180e5dac..5cab47c219 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,8 @@
+### Unreleased
+
+* bug fixes
+  * Respect locale set by controller in failure app. Devise will carry over the current I18n.locale option when triggering authentication, and will wrap the failure app call with it. [#5567](https://github.com/heartcombo/devise/pull/5567)
+
 ### 4.9.3 - 2023-10-11
 
 * enhancements
diff --git a/app/controllers/devise/sessions_controller.rb b/app/controllers/devise/sessions_controller.rb
index 7c4ee7d4eb..76b780209e 100644
--- a/app/controllers/devise/sessions_controller.rb
+++ b/app/controllers/devise/sessions_controller.rb
@@ -45,7 +45,7 @@ def serialize_options(resource)
   end
 
   def auth_options
-    { scope: resource_name, recall: "#{controller_path}#new" }
+    { scope: resource_name, recall: "#{controller_path}#new", locale: I18n.locale }
   end
 
   def translation_scope
diff --git a/lib/devise/controllers/helpers.rb b/lib/devise/controllers/helpers.rb
index bc6e9fd865..68e8e8d1d6 100644
--- a/lib/devise/controllers/helpers.rb
+++ b/lib/devise/controllers/helpers.rb
@@ -46,6 +46,7 @@ def authenticate_#{group_name}!(favorite = nil, opts = {})
                 mappings.unshift mappings.delete(favorite.to_sym) if favorite
                 mappings.each do |mapping|
                   opts[:scope] = mapping
+                  opts[:locale] = I18n.locale
                   warden.authenticate!(opts) if !devise_controller? || opts.delete(:force)
                 end
               end
@@ -115,6 +116,7 @@ def self.define_helpers(mapping) #:nodoc:
         class_eval <<-METHODS, __FILE__, __LINE__ + 1
           def authenticate_#{mapping}!(opts = {})
             opts[:scope] = :#{mapping}
+            opts[:locale] = I18n.locale
             warden.authenticate!(opts) if !devise_controller? || opts.delete(:force)
           end
 
diff --git a/lib/devise/failure_app.rb b/lib/devise/failure_app.rb
index 8458aef327..ff3363fbc0 100644
--- a/lib/devise/failure_app.rb
+++ b/lib/devise/failure_app.rb
@@ -18,6 +18,11 @@ class FailureApp < ActionController::Metal
 
     delegate :flash, to: :request
 
+    include AbstractController::Callbacks
+    around_action do |failure_app, action|
+      I18n.with_locale(failure_app.i18n_locale, &action)
+    end
+
     def self.call(env)
       @respond ||= action(:respond)
       @respond.call(env)
@@ -107,7 +112,7 @@ def i18n_message(default = nil)
         options[:default] = [message]
         auth_keys = scope_class.authentication_keys
         keys = (auth_keys.respond_to?(:keys) ? auth_keys.keys : auth_keys).map { |key| scope_class.human_attribute_name(key) }
-        options[:authentication_keys] = keys.join(I18n.translate(:"support.array.words_connector"))
+        options[:authentication_keys] = keys.join(I18n.t(:"support.array.words_connector"))
         options = i18n_options(options)
 
         I18n.t(:"#{scope}.#{message}", **options)
@@ -116,6 +121,10 @@ def i18n_message(default = nil)
       end
     end
 
+    def i18n_locale
+      warden_options[:locale]
+    end
+
     def redirect_url
       if warden_message == :timeout
         flash[:timedout] = true if is_flashing_format?
diff --git a/test/controllers/helpers_test.rb b/test/controllers/helpers_test.rb
index 655a1fb661..57acdba9c3 100644
--- a/test/controllers/helpers_test.rb
+++ b/test/controllers/helpers_test.rb
@@ -64,30 +64,30 @@ def setup
   end
 
   test 'proxy authenticate_user! to authenticate with user scope' do
-    @mock_warden.expects(:authenticate!).with({ scope: :user })
+    @mock_warden.expects(:authenticate!).with({ scope: :user, locale: :en })
     @controller.authenticate_user!
   end
 
   test 'proxy authenticate_user! options to authenticate with user scope' do
-    @mock_warden.expects(:authenticate!).with({ scope: :user, recall: "foo" })
+    @mock_warden.expects(:authenticate!).with({ scope: :user, recall: "foo", locale: :en })
     @controller.authenticate_user!(recall: "foo")
   end
 
   test 'proxy authenticate_admin! to authenticate with admin scope' do
-    @mock_warden.expects(:authenticate!).with({ scope: :admin })
+    @mock_warden.expects(:authenticate!).with({ scope: :admin, locale: :en })
     @controller.authenticate_admin!
   end
 
   test 'proxy authenticate_[group]! to authenticate!? with each scope' do
     [:user, :admin].each do |scope|
-      @mock_warden.expects(:authenticate!).with({ scope: scope })
+      @mock_warden.expects(:authenticate!).with({ scope: scope, locale: :en })
       @mock_warden.expects(:authenticate?).with(scope: scope).returns(false)
     end
     @controller.authenticate_commenter!
   end
 
   test 'proxy authenticate_publisher_account! to authenticate with namespaced publisher account scope' do
-    @mock_warden.expects(:authenticate!).with({ scope: :publisher_account })
+    @mock_warden.expects(:authenticate!).with({ scope: :publisher_account, locale: :en })
     @controller.authenticate_publisher_account!
   end
 
diff --git a/test/failure_app_test.rb b/test/failure_app_test.rb
index 59f291e204..e8f316f0db 100644
--- a/test/failure_app_test.rb
+++ b/test/failure_app_test.rb
@@ -200,6 +200,13 @@ def call_failure(env_params = {})
       assert_equal 'User Steve does not exist', @request.flash[:alert]
     end
 
+    test 'respects the i18n locale passed via warden options when redirecting' do
+      call_failure('warden' => OpenStruct.new(message: :invalid), 'warden.options' => { locale: :"pt-BR" })
+
+      assert_equal 'Email ou senha inválidos.', @request.flash[:alert]
+      assert_equal 'http://test.host/users/sign_in', @response.second["Location"]
+    end
+
     test 'uses the proxy failure message as string' do
       call_failure('warden' => OpenStruct.new(message: 'Hello world'))
       assert_equal 'Hello world', @request.flash[:alert]
@@ -284,6 +291,12 @@ def call_failure(env_params = {})
       assert_match '<error>Invalid Email or password.</error>', @response.third.body
     end
 
+    test 'respects the i18n locale passed via warden options when responding to HTTP request' do
+      call_failure('formats' => Mime[:json], 'warden' => OpenStruct.new(message: :invalid), 'warden.options' => { locale: :"pt-BR" })
+
+      assert_equal %({"error":"Email ou senha inválidos."}), @response.third.body
+    end
+
     context 'on ajax call' do
       context 'when http_authenticatable_on_xhr is false' do
         test 'dont return 401 with navigational formats' do
@@ -372,6 +385,18 @@ def call_failure(env_params = {})
       end
     end
 
+    test 'respects the i18n locale passed via warden options when recalling original controller' do
+      env = {
+        "warden.options" => { recall: "devise/sessions#new", attempted_path: "/users/sign_in", locale: :"pt-BR" },
+        "devise.mapping" => Devise.mappings[:user],
+        "warden" => stub_everything
+      }
+      call_failure(env)
+
+      assert_includes @response.third.body, '<h2>Log in</h2>'
+      assert_includes @response.third.body, 'Email ou senha inválidos.'
+    end
+
     # TODO: remove conditional/else when supporting only responders 3.1+
     if ActionController::Responder.respond_to?(:error_status=)
       test 'respects the configured responder `error_status` for the status code' do
@@ -431,6 +456,7 @@ def call_failure(env_params = {})
       assert_equal "yes it does", Devise::FailureApp.new.lazy_loading_works?
     end
   end
+
   context "Without Flash Support" do
     test "returns to the default redirect location without a flash message" do
       call_failure request_klass: RequestWithoutFlashSupport
diff --git a/test/integration/authenticatable_test.rb b/test/integration/authenticatable_test.rb
index 5c56ca589f..ea338f6fc1 100644
--- a/test/integration/authenticatable_test.rb
+++ b/test/integration/authenticatable_test.rb
@@ -273,6 +273,15 @@ class AuthenticationRedirectTest < Devise::IntegrationTest
     assert_contain 'You need to sign in or sign up before continuing.'
   end
 
+  test 'redirect from warden respects i18n locale set at the controller' do
+    get admins_path(locale: "pt-BR")
+
+    assert_redirected_to new_admin_session_path
+    follow_redirect!
+
+    assert_contain 'Para continuar, faça login ou registre-se.'
+  end
+
   test 'redirect to default url if no other was configured' do
     sign_in_as_user
     assert_template 'home/index'
diff --git a/test/rails_app/app/controllers/admins_controller.rb b/test/rails_app/app/controllers/admins_controller.rb
index c732f58908..957aa6f0b2 100644
--- a/test/rails_app/app/controllers/admins_controller.rb
+++ b/test/rails_app/app/controllers/admins_controller.rb
@@ -1,8 +1,15 @@
 # frozen_string_literal: true
 
 class AdminsController < ApplicationController
+  around_action :set_locale
   before_action :authenticate_admin!
 
   def index
   end
+
+  private
+
+  def set_locale
+    I18n.with_locale(params[:locale] || I18n.default_locale) { yield }
+  end
 end
diff --git a/test/support/locale/pt-BR.yml b/test/support/locale/pt-BR.yml
new file mode 100644
index 0000000000..5c57e19096
--- /dev/null
+++ b/test/support/locale/pt-BR.yml
@@ -0,0 +1,5 @@
+pt-BR:
+  devise:
+    failure:
+      invalid: "%{authentication_keys} ou senha inválidos."
+      unauthenticated: "Para continuar, faça login ou registre-se."
diff --git a/test/test_helper.rb b/test/test_helper.rb
index c0bb43f779..199dad4043 100644
--- a/test/test_helper.rb
+++ b/test/test_helper.rb
@@ -10,7 +10,7 @@
 require "rails/test_help"
 require "orm/#{DEVISE_ORM}"
 
-I18n.load_path << File.expand_path("../support/locale/en.yml", __FILE__)
+I18n.load_path.concat Dir["#{File.dirname(__FILE__)}/support/locale/*.yml"]
 
 require 'mocha/minitest'
 require 'timecop'