diff --git a/CHANGELOG.md b/CHANGELOG.md
index 19019793..5381e40c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -6,6 +6,14 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [3.16.1] - 2024-01-17
+
+### Fixed
+
+- DAP: Improve reliability of loading Rust debug configurations on LSP attach.
+- DAP: Assign `lldb` and `codelldb` configurations found in `launch.json`
+  to `dap.configurations.rust`.
+
 ## [3.16.0] - 2024-01-15
 
 ### Added
diff --git a/README.md b/README.md
index d05fe25b..7e9a4059 100644
--- a/README.md
+++ b/README.md
@@ -169,13 +169,17 @@ vim.keymap.set(
   vim.cmd.RustLsp {'debuggables', 'last' --[[ optional ]] }
   ```
 
-  > [!NOTE]
-  >
-  > By default, this plugin will silently attempt to autoload `nvim-dap`
-  > configurations when the LSP client attaches.
-  > You can call them with `require('dap').continue()` once
-  > they have been loaded. The feature can be disabled by setting
-  > `vim.g.rustaceanvim.dap.autoload_configurations = false`.
+  By default, this plugin will silently attempt to autoload `nvim-dap`
+  configurations when the LSP client attaches.
+  You can call them with `require('dap').continue()` once
+  they have been loaded. The feature can be disabled by setting
+  `vim.g.rustaceanvim.dap.autoload_configurations = false`.
+  
+  - `:RustLsp debuggables` will only load debug configurations
+    created by `rust-analyzer`.
+  - `require('dap').continue()` will load all Rust debug configurations,
+    including those specified in a `.vscode/launch.json`
+    (see [`:h dap-launch.json`](https://github.com/mfussenegger/nvim-dap/blob/9adbfdca13afbe646d09a8d7a86d5d031fb9c5a5/doc/dap.txt#L316)).
 
   ![](https://github.com/mrcjkb/rustaceanvim/assets/12857160/ce17d228-ae0a-416a-8159-fe095a85dcb7)
 
diff --git a/lua/rustaceanvim/config/internal.lua b/lua/rustaceanvim/config/internal.lua
index c52ad47e..377d8430 100644
--- a/lua/rustaceanvim/config/internal.lua
+++ b/lua/rustaceanvim/config/internal.lua
@@ -319,7 +319,7 @@ local RustaceanDefaultConfig = {
       -- It is necessary to check for changes in the `dap.configurations` table, as
       -- `load_launchjs` does not return anything, it loads directly into `dap.configurations`.
       local pre_launch = vim.deepcopy(dap.configurations) or {}
-      require('dap.ext.vscode').load_launchjs()
+      require('dap.ext.vscode').load_launchjs(nil, { lldb = { 'rust' }, codelldb = { 'rust' } })
       for k, v in pairs(dap.configurations) do
         if pre_launch[k] == nil or not vim.deep_equal(pre_launch[k], v) then
           -- `configurations` are tables of `configuration` entries
diff --git a/lua/rustaceanvim/lsp.lua b/lua/rustaceanvim/lsp.lua
index 0cb17bd7..93d649a5 100644
--- a/lua/rustaceanvim/lsp.lua
+++ b/lua/rustaceanvim/lsp.lua
@@ -218,12 +218,12 @@ M.start = function(bufnr)
 
   local old_on_attach = lsp_start_opts.on_attach
   lsp_start_opts.on_attach = function(...)
-    if config.dap.autoload_configurations then
-      require('rustaceanvim.commands.debuggables').add_dap_debuggables()
-    end
     if type(old_on_attach) == 'function' then
       old_on_attach(...)
     end
+    if config.dap.autoload_configurations then
+      require('rustaceanvim.commands.debuggables').add_dap_debuggables()
+    end
   end
 
   local old_on_exit = lsp_start_opts.on_exit
diff --git a/lua/rustaceanvim/server_status.lua b/lua/rustaceanvim/server_status.lua
index 4b44da61..ef4bee8b 100644
--- a/lua/rustaceanvim/server_status.lua
+++ b/lua/rustaceanvim/server_status.lua
@@ -28,6 +28,9 @@ function M.handler(_, result, ctx, _)
   if config.tools.on_initialized then
     config.tools.on_initialized(result)
   end
+  if config.dap.autoload_configurations then
+    require('rustaceanvim.commands.debuggables').add_dap_debuggables()
+  end
   _ran_once[ctx.client_id] = true
 end