diff --git a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsController.java b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsController.java
index 0dc7974475fa5..6a7584ed541af 100644
--- a/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsController.java
+++ b/packages/SystemUI/src/com/android/systemui/biometrics/UdfpsController.java
@@ -189,6 +189,8 @@ public class UdfpsController implements DozeReceiver, Dumpable {
     @Nullable private VelocityTracker mVelocityTracker;
     // The ID of the pointer for which ACTION_DOWN has occurred. -1 means no pointer is active.
     private int mActivePointerId = -1;
+    // Whether a pointer has been pilfered for current gesture
+    private boolean mPointerPilfered = false;
     // The timestamp of the most recent touch log.
     private long mTouchLogTime;
     // The timestamp of the most recent log of a touch InteractionEvent.
@@ -560,6 +562,11 @@ public class UdfpsController implements DozeReceiver, Dumpable {
                 || mPrimaryBouncerInteractor.isInTransit()) {
             return false;
         }
+        if (event.getAction() == MotionEvent.ACTION_DOWN
+                || event.getAction() == MotionEvent.ACTION_HOVER_ENTER) {
+            // Reset on ACTION_DOWN, start of new gesture
+            mPointerPilfered = false;
+        }
 
         final TouchProcessorResult result = mTouchProcessor.processTouch(event, mActivePointerId,
                 mOverlayParams);
@@ -633,10 +640,11 @@ public class UdfpsController implements DozeReceiver, Dumpable {
             shouldPilfer = true;
         }
 
-        // Execute the pilfer
-        if (shouldPilfer) {
+        // Pilfer only once per gesture
+        if (shouldPilfer && !mPointerPilfered) {
             mInputManager.pilferPointers(
                     mOverlay.getOverlayView().getViewRootImpl().getInputToken());
+            mPointerPilfered = true;
         }
 
         return processedTouch.getTouchData().isWithinBounds(mOverlayParams.getNativeSensorBounds());
diff --git a/packages/SystemUI/tests/src/com/android/systemui/biometrics/UdfpsControllerTest.java b/packages/SystemUI/tests/src/com/android/systemui/biometrics/UdfpsControllerTest.java
index 821c2cbbafca1..30e54474bbde6 100644
--- a/packages/SystemUI/tests/src/com/android/systemui/biometrics/UdfpsControllerTest.java
+++ b/packages/SystemUI/tests/src/com/android/systemui/biometrics/UdfpsControllerTest.java
@@ -1316,12 +1316,22 @@ public class UdfpsControllerTest extends SysuiTestCase {
         // WHEN ACTION_DOWN is received
         when(mSinglePointerTouchProcessor.processTouch(any(), anyInt(), any())).thenReturn(
                 processorResultDown);
-        MotionEvent downEvent = MotionEvent.obtain(0, 0, ACTION_DOWN, 0, 0, 0);
-        mTouchListenerCaptor.getValue().onTouch(mUdfpsView, downEvent);
+        MotionEvent event = MotionEvent.obtain(0, 0, ACTION_DOWN, 0, 0, 0);
+        mTouchListenerCaptor.getValue().onTouch(mUdfpsView, event);
         mBiometricExecutor.runAllReady();
-        downEvent.recycle();
 
-        // THEN the touch is pilfered
+        // WHEN ACTION_MOVE is received after
+        final TouchProcessorResult processorResultUnchanged =
+                new TouchProcessorResult.ProcessedTouch(
+                        InteractionEvent.UNCHANGED, 1 /* pointerId */, touchData);
+        when(mSinglePointerTouchProcessor.processTouch(any(), anyInt(), any())).thenReturn(
+                processorResultUnchanged);
+        event.setAction(ACTION_MOVE);
+        mTouchListenerCaptor.getValue().onTouch(mUdfpsView, event);
+        mBiometricExecutor.runAllReady();
+        event.recycle();
+
+        // THEN only pilfer once on the initial down
         verify(mInputManager).pilferPointers(any());
     }