diff --git a/services/core/java/com/android/server/wm/RecentsAnimationController.java b/services/core/java/com/android/server/wm/RecentsAnimationController.java
index 286a0640c18df..737e7d10c3b44 100644
--- a/services/core/java/com/android/server/wm/RecentsAnimationController.java
+++ b/services/core/java/com/android/server/wm/RecentsAnimationController.java
@@ -151,6 +151,8 @@ public class RecentsAnimationController implements DeathRecipient {
     // Whether to take a screenshot when handling a deferred cancel
     private boolean mCancelDeferredWithScreenshot;
 
+    @VisibleForTesting
+    boolean mIsAddingTaskToTargets;
     @VisibleForTesting
     boolean mShouldAttachNavBarToAppDuringTransition;
     private boolean mNavigationBarAttachedToApp;
@@ -375,7 +377,8 @@ public class RecentsAnimationController implements DeathRecipient {
             final long token = Binder.clearCallingIdentity();
             try {
                 synchronized (mService.getWindowManagerLock()) {
-                    restoreNavigationBarFromApp(moveHomeToTop);
+                    restoreNavigationBarFromApp(
+                            moveHomeToTop || mIsAddingTaskToTargets /* animate */);
                     mService.mWindowPlacerLocked.requestTraversal();
                 }
             } finally {
@@ -685,6 +688,7 @@ public class RecentsAnimationController implements DeathRecipient {
 
     void addTaskToTargets(Task task, OnAnimationFinishedCallback finishedCallback) {
         if (mRunner != null) {
+            mIsAddingTaskToTargets = task != null;
             // No need to send task appeared when the task target already exists, or when the
             // task is being managed as a multi-window mode outside of recents (e.g. bubbles).
             if (isAnimatingTask(task) || skipAnimation(task)) {
@@ -901,7 +905,8 @@ public class RecentsAnimationController implements DeathRecipient {
             removeWallpaperAnimation(wallpaperAdapter);
         }
 
-        restoreNavigationBarFromApp(reorderMode == REORDER_MOVE_TO_TOP);
+        restoreNavigationBarFromApp(
+                reorderMode == REORDER_MOVE_TO_TOP || mIsAddingTaskToTargets /* animate */);
 
         // Clear any pending failsafe runnables
         mService.mH.removeCallbacks(mFailsafeRunnable);
diff --git a/services/tests/wmtests/src/com/android/server/wm/RecentsAnimationControllerTest.java b/services/tests/wmtests/src/com/android/server/wm/RecentsAnimationControllerTest.java
index 3082a5cc61147..41506f6ad9211 100644
--- a/services/tests/wmtests/src/com/android/server/wm/RecentsAnimationControllerTest.java
+++ b/services/tests/wmtests/src/com/android/server/wm/RecentsAnimationControllerTest.java
@@ -552,6 +552,31 @@ public class RecentsAnimationControllerTest extends WindowTestsBase {
         verify(transaction).reparent(navToken.getSurfaceControl(), parent.getSurfaceControl());
     }
 
+    @Test
+    public void testAddTaskToTargets_expectAnimation() {
+        setupForShouldAttachNavBarDuringTransition();
+        final ActivityRecord activity = createActivityRecord(mDefaultDisplay);
+        final ActivityRecord homeActivity = createHomeActivity();
+        initializeRecentsAnimationController(mController, homeActivity);
+
+        final WindowToken navToken = mDefaultDisplay.getDisplayPolicy().getNavigationBar().mToken;
+        final SurfaceControl.Transaction transaction = navToken.getPendingTransaction();
+
+        verify(mController.mStatusBar).setNavigationBarLumaSamplingEnabled(
+                eq(mDefaultDisplay.mDisplayId), eq(false));
+        verify(transaction).reparent(navToken.getSurfaceControl(), activity.getSurfaceControl());
+        verify(transaction).setLayer(navToken.getSurfaceControl(), Integer.MAX_VALUE);
+
+        final WindowContainer parent = navToken.getParent();
+
+        mController.addTaskToTargets(createTask(mDefaultDisplay), (type, anim) -> {});
+        mController.cleanupAnimation(REORDER_MOVE_TO_ORIGINAL_POSITION);
+        verify(mController).restoreNavigationBarFromApp(eq(true));
+        verify(mController.mStatusBar).setNavigationBarLumaSamplingEnabled(
+                eq(mDefaultDisplay.mDisplayId), eq(true));
+        verify(transaction).setLayer(navToken.getSurfaceControl(), 0);
+    }
+
     @Test
     public void testNotAttachNavigationBar_controlledByFadeRotationAnimation() {
         setupForShouldAttachNavBarDuringTransition();