diff --git a/packages/SystemUI/res/values/strings.xml b/packages/SystemUI/res/values/strings.xml
index fab724267e3f0..19e682b4b6a41 100644
--- a/packages/SystemUI/res/values/strings.xml
+++ b/packages/SystemUI/res/values/strings.xml
@@ -1386,6 +1386,8 @@
         buttons</string>
     <string name="screen_pinning_toast_recents_invisible">To unpin this screen, touch &amp; hold Back
         and Home buttons</string>
+    <!-- Notify (in toast) user how to unpin screen in gesture navigation mode [CHAR LIMIT=NONE] -->
+    <string name="screen_pinning_toast_gesture_nav">To unpin this screen, swipe up &amp; hold</string>
     <!-- Screen pinning positive response. -->
     <string name="screen_pinning_positive">Got it</string>
     <!-- Screen pinning negative response. -->
diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarView.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarView.java
index f689a3eadf588..a2740c8dc322e 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarView.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/NavigationBarView.java
@@ -17,6 +17,7 @@
 package com.android.systemui.statusbar.phone;
 
 import static android.view.WindowManagerPolicyConstants.NAV_BAR_MODE_3BUTTON;
+import static android.view.WindowManagerPolicyConstants.NAV_BAR_MODE_GESTURAL;
 
 import static com.android.systemui.shared.system.QuickStepContract.SYSUI_STATE_HOME_DISABLED;
 import static com.android.systemui.shared.system.QuickStepContract.SYSUI_STATE_NOTIFICATION_PANEL_EXPANDED;
@@ -920,7 +921,8 @@ public class NavigationBarView extends FrameLayout implements
     }
 
     public void showPinningEscapeToast() {
-        mScreenPinningNotify.showEscapeToast(isRecentsButtonVisible());
+        mScreenPinningNotify.showEscapeToast(
+                mNavBarMode == NAV_BAR_MODE_GESTURAL, isRecentsButtonVisible());
     }
 
     public boolean isVertical() {
diff --git a/packages/SystemUI/src/com/android/systemui/statusbar/phone/ScreenPinningNotify.java b/packages/SystemUI/src/com/android/systemui/statusbar/phone/ScreenPinningNotify.java
index f8731b4980d9f..071e00d08d672 100644
--- a/packages/SystemUI/src/com/android/systemui/statusbar/phone/ScreenPinningNotify.java
+++ b/packages/SystemUI/src/com/android/systemui/statusbar/phone/ScreenPinningNotify.java
@@ -51,7 +51,7 @@ public class ScreenPinningNotify {
     }
 
     /** Show a toast that describes the gesture the user should use to escape pinned mode. */
-    public void showEscapeToast(boolean isRecentsButtonVisible) {
+    public void showEscapeToast(boolean isGestureNavEnabled, boolean isRecentsButtonVisible) {
         long showToastTime = SystemClock.elapsedRealtime();
         if ((showToastTime - mLastShowToastTime) < SHOW_TOAST_MINIMUM_INTERVAL) {
             Slog.i(TAG, "Ignore toast since it is requested in very short interval.");
@@ -60,9 +60,11 @@ public class ScreenPinningNotify {
         if (mLastToast != null) {
             mLastToast.cancel();
         }
-        mLastToast = makeAllUserToastAndShow(isRecentsButtonVisible
-                ? R.string.screen_pinning_toast
-                : R.string.screen_pinning_toast_recents_invisible);
+        mLastToast = makeAllUserToastAndShow(isGestureNavEnabled
+                ? R.string.screen_pinning_toast_gesture_nav
+                : isRecentsButtonVisible
+                        ? R.string.screen_pinning_toast
+                        : R.string.screen_pinning_toast_recents_invisible);
         mLastShowToastTime = showToastTime;
     }