Let $K/\mathbb{Q}$ be a Galois number field and let $K_{\infty}/K$ be its cyclotomic $\mathbb{Z}_p$-extension defined by $K_{\infty}=K\cdot \mathbb{Q}_{\infty}$, where $\mathbb{Q}_{\infty}$ is the unique (cyclotomic) $\mathbb{Z}_p$-extension of $\mathbb{Q}$.
Let $\tau \in \text{Gal}(K_{\infty}/K)$ be a topological generator for $\text{Gal}(K_{\infty}/K)$ and for each $g \in \text{Gal}(K/\mathbb{Q})$, we fix a lift $\tilde{g} \in \text{Gal}(K_{\infty}/\mathbb{Q})$ of $g$.
I would like to know under which conditions one has that $\tilde{g}\tau=\tau\tilde{g}$, for all $g \in \text{Gal}(K/\mathbb{Q})$. This seems to be true if one assumes that $K\cap \mathbb{Q}_{\infty}=\mathbb{Q}$, but is it possible to find a necessary and sufficient condition?