diff --git a/wpilibc/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp b/wpilibc/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
index 4f9881b7c5..8a027172fd 100644
--- a/wpilibc/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
+++ b/wpilibc/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
@@ -26,16 +26,13 @@ void ParallelRaceGroup::Execute() {
     commandRunning->Execute();
     if (commandRunning->IsFinished()) {
       m_finished = true;
-      commandRunning->End(false);
     }
   }
 }
 
 void ParallelRaceGroup::End(bool interrupted) {
   for (auto& commandRunning : m_commands) {
-    if (!commandRunning->IsFinished()) {
-      commandRunning->End(true);
-    }
+    commandRunning->End(!commandRunning->IsFinished());
   }
   isRunning = false;
 }
diff --git a/wpilibc/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp b/wpilibc/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
index 9d51609a4a..1aa19e4b6d 100644
--- a/wpilibc/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
+++ b/wpilibc/src/main/native/cpp/frc2/command/SequentialCommandGroup.cpp
@@ -38,7 +38,9 @@ void SequentialCommandGroup::Execute() {
 }
 
 void SequentialCommandGroup::End(bool interrupted) {
-  if (interrupted && !m_commands.empty()) {
+  if (interrupted && !m_commands.empty() &&
+      m_currentCommandIndex != invalid_index &&
+      m_currentCommandIndex < m_commands.size()) {
     m_commands[m_currentCommandIndex]->End(interrupted);
   }
   m_currentCommandIndex = invalid_index;
diff --git a/wpilibc/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp b/wpilibc/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
index dad02a128c..54762ca9b5 100644
--- a/wpilibc/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
+++ b/wpilibc/src/test/native/cpp/frc2/command/ParallelRaceGroupTest.cpp
@@ -8,6 +8,7 @@
 #include "CommandTestBase.h"
 #include "frc2/command/InstantCommand.h"
 #include "frc2/command/ParallelRaceGroup.h"
+#include "frc2/command/SequentialCommandGroup.h"
 #include "frc2/command/WaitUntilCommand.h"
 
 using namespace frc2;
@@ -129,3 +130,27 @@ TEST_F(ParallelRaceGroupTest, RaceGroupRequirementTest) {
   EXPECT_TRUE(scheduler.IsScheduled(&command3));
   EXPECT_FALSE(scheduler.IsScheduled(&group));
 }
+
+TEST_F(ParallelRaceGroupTest, ParallelRaceOnlyCallsEndOnceTest) {
+  CommandScheduler scheduler = GetScheduler();
+
+  bool finished1 = false;
+  bool finished2 = false;
+  bool finished3 = false;
+
+  WaitUntilCommand command1([&finished1] { return finished1; });
+  WaitUntilCommand command2([&finished2] { return finished2; });
+  WaitUntilCommand command3([&finished3] { return finished3; });
+
+  SequentialCommandGroup group1(command1, command2);
+  ParallelRaceGroup group2(std::move(group1), command3);
+
+  scheduler.Schedule(&group2);
+  scheduler.Run();
+  EXPECT_TRUE(scheduler.IsScheduled(&group2));
+  finished1 = true;
+  scheduler.Run();
+  finished2 = true;
+  EXPECT_NO_FATAL_FAILURE(scheduler.Run());
+  EXPECT_FALSE(scheduler.IsScheduled(&group2));
+}
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
index a84d8aaa2f..dcaf5f5596 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
@@ -69,7 +69,6 @@ public class ParallelRaceGroup extends CommandGroupBase {
       command.execute();
       if (command.isFinished()) {
         m_finished = true;
-        command.end(false);
       }
     }
   }
@@ -77,9 +76,7 @@ public class ParallelRaceGroup extends CommandGroupBase {
   @Override
   public void end(boolean interrupted) {
     for (Command command : m_commands) {
-      if (!command.isFinished()) {
-        command.end(true);
-      }
+      command.end(!command.isFinished());
     }
   }
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
index d834018796..0d01f1119b 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
@@ -77,7 +77,9 @@ public class SequentialCommandGroup extends CommandGroupBase {
 
   @Override
   public void end(boolean interrupted) {
-    if (interrupted && !m_commands.isEmpty()) {
+    if (interrupted && !m_commands.isEmpty() && m_currentCommandIndex > -1
+        && m_currentCommandIndex < m_commands.size()
+    ) {
       m_commands.get(m_currentCommandIndex).end(true);
     }
     m_currentCommandIndex = -1;
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
index c9b21e4bad..8a4781f87d 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
@@ -11,6 +11,7 @@ import org.junit.jupiter.api.Test;
 
 import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
 import static org.junit.jupiter.api.Assertions.assertFalse;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
 import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.mockito.Mockito.never;
@@ -129,4 +130,34 @@ class ParallelRaceGroupTest extends CommandTestBase {
 
     assertThrows(IllegalArgumentException.class, () -> new ParallelRaceGroup(command1, command2));
   }
+
+  @Test
+  void parallelRaceOnlyCallsEndOnceTest() {
+    Subsystem system1 = new TestSubsystem();
+    Subsystem system2 = new TestSubsystem();
+
+    MockCommandHolder command1Holder = new MockCommandHolder(true, system1);
+    Command command1 = command1Holder.getMock();
+    MockCommandHolder command2Holder = new MockCommandHolder(true, system2);
+    Command command2 = command2Holder.getMock();
+    MockCommandHolder perpetualCommandHolder = new MockCommandHolder(true);
+    Command command3 = new PerpetualCommand(perpetualCommandHolder.getMock());
+
+    Command group1 = new SequentialCommandGroup(command1, command2);
+    assertNotNull(group1);
+    assertNotNull(command3);
+    Command group2 = new ParallelRaceGroup(group1, command3);
+
+    CommandScheduler scheduler = new CommandScheduler();
+
+    scheduler.schedule(group2);
+    scheduler.run();
+    command1Holder.setFinished(true);
+    scheduler.run();
+    command2Holder.setFinished(true);
+    // at this point the sequential group should be done
+    assertDoesNotThrow(() -> scheduler.run());
+
+  }
+
 }