diff --git a/crates/bevy_ecs/src/schedule/error.rs b/crates/bevy_ecs/src/schedule/error.rs
index caa34a1d40a6a..21181a21e21f2 100644
--- a/crates/bevy_ecs/src/schedule/error.rs
+++ b/crates/bevy_ecs/src/schedule/error.rs
@@ -272,6 +272,9 @@ pub enum ScheduleError {
     /// Schedule not found
     #[error("Schedule not found.")]
     ScheduleNotFound,
+    /// System not found
+    #[error("System not found")]
+    SystemNotFound,
     /// Error initializing schedule
     #[error("{0}")]
     ScheduleBuildError(ScheduleBuildError),
diff --git a/crates/bevy_ecs/src/schedule/node.rs b/crates/bevy_ecs/src/schedule/node.rs
index 6f07c321e07a7..d346f4c3f69ab 100644
--- a/crates/bevy_ecs/src/schedule/node.rs
+++ b/crates/bevy_ecs/src/schedule/node.rs
@@ -550,6 +550,15 @@ impl Systems {
         key
     }
 
+    pub(crate) fn replace(&mut self, key: SystemKey, system: ScheduleSystem) -> bool {
+        let Some(slot) = self.nodes.get_mut(key) else {
+            return false;
+        };
+        *slot = SystemNode::new(system);
+        self.uninit.push(key);
+        true
+    }
+
     /// Remove a system with [`SystemKey`]
     pub(crate) fn remove(&mut self, key: SystemKey) -> bool {
         let mut found = false;
diff --git a/crates/bevy_ecs/src/schedule/schedule.rs b/crates/bevy_ecs/src/schedule/schedule.rs
index 87a91c86ae568..581cb2733f1b8 100644
--- a/crates/bevy_ecs/src/schedule/schedule.rs
+++ b/crates/bevy_ecs/src/schedule/schedule.rs
@@ -1086,6 +1086,23 @@ impl ScheduleGraph {
         self.ambiguous_with_all.remove(&NodeId::from(key));
     }
 
+    /// Replace a system in a set. Use [`system_in_set`] to get
+    /// the [`SystemKey`]. This leaves any run conditions or ordering dependencies
+    /// in place.
+    pub fn replace_system_by_key(
+        &mut self,
+        key: SystemKey,
+        system: ScheduleSystem,
+    ) -> Result<(), ScheduleError> {
+        if !self.systems.replace(key, system) {
+            return Err(ScheduleError::SystemNotFound);
+        }
+
+        self.changed = true;
+
+        Ok(())
+    }
+
     /// Update the internal graphs (hierarchy, dependency, ambiguity) by adding a single [`GraphInfo`]
     fn update_graphs(&mut self, id: NodeId, graph_info: GraphInfo) {
         self.changed = true;
@@ -1539,10 +1556,15 @@ impl ScheduleGraph {
             .zip(schedule.systems.drain(..))
             .zip(schedule.system_conditions.drain(..))
         {
+            // if the node no longer exists it was removed, so do nothing
             if let Some(node) = self.systems.node_mut(key) {
-                node.inner = Some(system);
+                // if node.inner.is_some() then the system was replaced
+                if node.inner.is_none() {
+                    node.inner = Some(system);
+                }
             }
 
+            // if the node no longer exists it was removed, so do nothing
             if let Some(node_conditions) = self.systems.get_conditions_mut(key) {
                 *node_conditions = conditions;
             }
@@ -1553,6 +1575,7 @@ impl ScheduleGraph {
             .drain(..)
             .zip(schedule.set_conditions.drain(..))
         {
+            // if the node no longer exists it was removed, so do nothing
             if let Some(node_conditions) = self.system_sets.get_conditions_mut(key) {
                 *node_conditions = conditions;
             }
@@ -1990,6 +2013,8 @@ pub struct ScheduleNotInitialized;
 
 #[cfg(test)]
 mod tests {
+    use alloc::boxed::Box;
+
     use bevy_ecs_macros::ScheduleLabel;
 
     use crate::{
@@ -1999,7 +2024,7 @@ mod tests {
             tests::ResMut, IntoScheduleConfigs, Schedule, ScheduleBuildSettings,
             ScheduleCleanupPolicy, SystemSet,
         },
-        system::Commands,
+        system::{Commands, IntoSystem, ScheduleSystem},
         world::World,
     };
 
@@ -2975,4 +3000,42 @@ mod tests {
         let conflicts = schedule.graph().conflicting_systems();
         assert!(conflicts.is_empty());
     }
+
+    #[test]
+    fn replace_a_system() {
+        #[derive(Resource)]
+        struct Counter(usize);
+
+        fn system_1(mut counter: ResMut<Counter>) {
+            counter.0 = 1;
+        }
+
+        fn system_2(mut counter: ResMut<Counter>) {
+            counter.0 = 2;
+        }
+
+        let mut schedule = Schedule::default();
+        schedule.add_systems(system_1);
+
+        let mut world = World::new();
+        world.insert_resource(Counter(0));
+
+        let boxed: ScheduleSystem = Box::new(IntoSystem::into_system(system_2));
+
+        schedule.initialize(&mut world).unwrap();
+        let Ok(&[key]) = schedule
+            .graph_mut()
+            .systems_in_set(system_1.into_system_set().intern())
+        else {
+            panic!("key not found")
+        };
+        assert!(schedule
+            .graph_mut()
+            .replace_system_by_key(key, boxed)
+            .is_ok());
+
+        schedule.run(&mut world);
+
+        assert_eq!(world.resource::<Counter>().0, 2);
+    }
 }