diff --git a/packages/SystemUI/res/values/strings.xml b/packages/SystemUI/res/values/strings.xml
index acc03c43d34ca..60d71260058f3 100644
--- a/packages/SystemUI/res/values/strings.xml
+++ b/packages/SystemUI/res/values/strings.xml
@@ -1345,6 +1345,7 @@
     <!-- Screen pinning dialog description. -->
     <string name="screen_pinning_description">This keeps it in view until you unpin. Touch &amp; hold Back and Overview to unpin.</string>
     <string name="screen_pinning_description_recents_invisible">This keeps it in view until you unpin. Touch &amp; hold Back and Home to unpin.</string>
+    <string name="screen_pinning_description_gestural">This keeps it in view until you unpin. Swipe up &amp; hold to unpin.</string>
     <!-- Screen pinning dialog description. -->
     <string name="screen_pinning_description_accessible">This keeps it in view until you unpin. Touch &amp; hold Overview to unpin.</string>
     <string name="screen_pinning_description_recents_invisible_accessible">This keeps it in view until you unpin. Touch &amp; hold Home to unpin.</string>
diff --git a/packages/SystemUI/shared/src/com/android/systemui/shared/recents/ISystemUiProxy.aidl b/packages/SystemUI/shared/src/com/android/systemui/shared/recents/ISystemUiProxy.aidl
index 6f44623eb3203..2c5fa60d3516a 100644
--- a/packages/SystemUI/shared/src/com/android/systemui/shared/recents/ISystemUiProxy.aidl
+++ b/packages/SystemUI/shared/src/com/android/systemui/shared/recents/ISystemUiProxy.aidl
@@ -96,4 +96,9 @@ interface ISystemUiProxy {
      * Notifies that the accessibility button in the system's navigation area has been long clicked
      */
     void notifyAccessibilityButtonLongClicked() = 16;
+
+    /**
+     * Ends the system screen pinning.
+     */
+    void stopScreenPinning() = 17;
 }
diff --git a/packages/SystemUI/src/com/android/systemui/recents/OverviewProxyService.java b/packages/SystemUI/src/com/android/systemui/recents/OverviewProxyService.java
index 3ace7050c743a..5ed6a429cc2f8 100644
--- a/packages/SystemUI/src/com/android/systemui/recents/OverviewProxyService.java
+++ b/packages/SystemUI/src/com/android/systemui/recents/OverviewProxyService.java
@@ -35,6 +35,7 @@ import static com.android.systemui.shared.system.QuickStepContract.SYSUI_STATE_N
 import static com.android.systemui.shared.system.QuickStepContract.SYSUI_STATE_SCREEN_PINNING;
 
 import android.annotation.FloatRange;
+import android.app.ActivityTaskManager;
 import android.content.BroadcastReceiver;
 import android.content.ComponentName;
 import android.content.Context;
@@ -150,6 +151,25 @@ public class OverviewProxyService implements CallbackController<OverviewProxyLis
             }
         }
 
+        @Override
+        public void stopScreenPinning() {
+            if (!verifyCaller("stopScreenPinning")) {
+                return;
+            }
+            long token = Binder.clearCallingIdentity();
+            try {
+                mHandler.post(() -> {
+                    try {
+                        ActivityTaskManager.getService().stopSystemLockTaskMode();
+                    } catch (RemoteException e) {
+                        Log.e(TAG_OPS, "Failed to stop screen pinning");
+                    }
+                });
+            } finally {
+                Binder.restoreCallingIdentity(token);
+            }
+        }
+
         @Override
         public void onStatusBarMotionEvent(MotionEvent event) {
             if (!verifyCaller("onStatusBarMotionEvent")) {
diff --git a/packages/SystemUI/src/com/android/systemui/recents/ScreenPinningRequest.java b/packages/SystemUI/src/com/android/systemui/recents/ScreenPinningRequest.java
index 07391ed5867f6..ade903d7e2721 100644
--- a/packages/SystemUI/src/com/android/systemui/recents/ScreenPinningRequest.java
+++ b/packages/SystemUI/src/com/android/systemui/recents/ScreenPinningRequest.java
@@ -48,14 +48,17 @@ import android.widget.TextView;
 import com.android.systemui.Dependency;
 import com.android.systemui.R;
 import com.android.systemui.SysUiServiceProvider;
+import com.android.systemui.shared.system.QuickStepContract;
 import com.android.systemui.shared.system.WindowManagerWrapper;
 import com.android.systemui.statusbar.phone.NavigationBarView;
+import com.android.systemui.statusbar.phone.NavigationModeController;
 import com.android.systemui.statusbar.phone.StatusBar;
 import com.android.systemui.util.leak.RotationUtils;
 
 import java.util.ArrayList;
 
-public class ScreenPinningRequest implements View.OnClickListener {
+public class ScreenPinningRequest implements View.OnClickListener,
+        NavigationModeController.ModeChangedListener {
 
     private final Context mContext;
 
@@ -64,6 +67,7 @@ public class ScreenPinningRequest implements View.OnClickListener {
     private final OverviewProxyService mOverviewProxyService;
 
     private RequestWindowView mRequestWindow;
+    private int mNavBarMode;
 
     // Id of task to be pinned or locked.
     private int taskId;
@@ -75,6 +79,7 @@ public class ScreenPinningRequest implements View.OnClickListener {
         mWindowManager = (WindowManager)
                 mContext.getSystemService(Context.WINDOW_SERVICE);
         mOverviewProxyService = Dependency.get(OverviewProxyService.class);
+        mNavBarMode = Dependency.get(NavigationModeController.class).addListener(this);
     }
 
     public void clearPrompt() {
@@ -103,6 +108,11 @@ public class ScreenPinningRequest implements View.OnClickListener {
         mWindowManager.addView(mRequestWindow, lp);
     }
 
+    @Override
+    public void onNavigationModeChanged(int mode) {
+        mNavBarMode = mode;
+    }
+
     public void onConfigurationChanged() {
         if (mRequestWindow != null) {
             mRequestWindow.onConfigurationChanged();
@@ -224,7 +234,9 @@ public class ScreenPinningRequest implements View.OnClickListener {
             mLayout.findViewById(R.id.screen_pinning_text_area)
                     .setLayoutDirection(View.LAYOUT_DIRECTION_LOCALE);
             View buttons = mLayout.findViewById(R.id.screen_pinning_buttons);
-            if (WindowManagerWrapper.getInstance().hasSoftNavigationBar(mContext.getDisplayId())) {
+            WindowManagerWrapper wm = WindowManagerWrapper.getInstance();
+            if (!QuickStepContract.isGesturalMode(mNavBarMode) 
+            	    && wm.hasSoftNavigationBar(mContext.getDisplayId())) {
                 buttons.setLayoutDirection(View.LAYOUT_DIRECTION_LOCALE);
                 swapChildrenIfRtlAndVertical(buttons);
             } else {
@@ -248,7 +260,9 @@ public class ScreenPinningRequest implements View.OnClickListener {
                     && navigationBarView.isRecentsButtonVisible();
             boolean touchExplorationEnabled = mAccessibilityService.isTouchExplorationEnabled();
             int descriptionStringResId;
-            if (recentsVisible) {
+            if (QuickStepContract.isGesturalMode(mNavBarMode)) {
+                descriptionStringResId = R.string.screen_pinning_description_gestural;
+            } else if (recentsVisible) {
                 mLayout.findViewById(R.id.screen_pinning_recents_group).setVisibility(VISIBLE);
                 mLayout.findViewById(R.id.screen_pinning_home_bg_light).setVisibility(INVISIBLE);
                 mLayout.findViewById(R.id.screen_pinning_home_bg).setVisibility(INVISIBLE);