diff --git a/services/core/java/com/android/server/wm/ActivityStarter.java b/services/core/java/com/android/server/wm/ActivityStarter.java
index b97ee7ef76b3e..b2f27ebaf5133 100644
--- a/services/core/java/com/android/server/wm/ActivityStarter.java
+++ b/services/core/java/com/android/server/wm/ActivityStarter.java
@@ -2732,8 +2732,8 @@ class ActivityStarter {
         intentActivity.getTaskFragment().clearLastPausedActivity();
         Task intentTask = intentActivity.getTask();
 
-        // Only update the target-root-task when it is not indicated.
         if (mTargetRootTask == null) {
+            // Update launch target task when it is not indicated.
             if (mSourceRecord != null && mSourceRecord.mLaunchRootTask != null) {
                 // Inherit the target-root-task from source to ensure trampoline activities will be
                 // launched into the same root task.
@@ -2742,6 +2742,17 @@ class ActivityStarter {
                 mTargetRootTask = getOrCreateRootTask(mStartActivity, mLaunchFlags, intentTask,
                         mOptions);
             }
+        } else {
+            // If a launch target indicated, and the matching task is already in the adjacent task
+            // of the launch target. Adjust to use the adjacent task as its launch target. So the
+            // existing task will be launched into the closer one and won't be reparent redundantly.
+            // TODO(b/231541706): Migrate the logic to wm-shell after having proper APIs to help
+            //  resolve target task without actually starting the activity.
+            final Task adjacentTargetTask = mTargetRootTask.getAdjacentTaskFragment() != null
+                    ? mTargetRootTask.getAdjacentTaskFragment().asTask() : null;
+            if (adjacentTargetTask != null && intentActivity.isDescendantOf(adjacentTargetTask)) {
+                mTargetRootTask = adjacentTargetTask;
+            }
         }
 
         // If the target task is not in the front, then we need to bring it to the front...
@@ -2771,7 +2782,7 @@ class ActivityStarter {
                     intentActivity.setTaskToAffiliateWith(mSourceRecord.getTask());
                 }
 
-                if (mTargetRootTask == intentActivity.getRootTask()) {
+                if (intentActivity.isDescendantOf(mTargetRootTask)) {
                     // TODO(b/151572268): Figure out a better way to move tasks in above 2-levels
                     //  tasks hierarchies.
                     if (mTargetRootTask != intentTask
@@ -2818,19 +2829,6 @@ class ActivityStarter {
         mTargetRootTask = intentActivity.getRootTask();
         mSupervisor.handleNonResizableTaskIfNeeded(intentTask, WINDOWING_MODE_UNDEFINED,
                 mRootWindowContainer.getDefaultTaskDisplayArea(), mTargetRootTask);
-
-        // We need to check if there is a launch root task in TDA for this target root task.
-        // If it exist, we need to reparent target root task from TDA to launch root task.
-        final TaskDisplayArea tda = mTargetRootTask.getDisplayArea();
-        final Task launchRootTask = tda.getLaunchRootTask(mTargetRootTask.getWindowingMode(),
-                mTargetRootTask.getActivityType(), null /** options */, mSourceRootTask,
-                mLaunchFlags);
-        // If target root task is created by organizer, let organizer handle reparent itself.
-        if (!mTargetRootTask.mCreatedByOrganizer && launchRootTask != null
-                && launchRootTask != mTargetRootTask) {
-            mTargetRootTask.reparent(launchRootTask, POSITION_TOP);
-            mTargetRootTask = launchRootTask;
-        }
     }
 
     private void resumeTargetRootTaskIfNeeded() {
diff --git a/services/tests/wmtests/src/com/android/server/wm/ActivityStarterTests.java b/services/tests/wmtests/src/com/android/server/wm/ActivityStarterTests.java
index f59ec42a4a71c..b9432753c17fb 100644
--- a/services/tests/wmtests/src/com/android/server/wm/ActivityStarterTests.java
+++ b/services/tests/wmtests/src/com/android/server/wm/ActivityStarterTests.java
@@ -784,6 +784,34 @@ public class ActivityStarterTests extends WindowTestsBase {
         }
     }
 
+    /**
+     * This test ensures that {@link ActivityStarter#setTargetRootTaskIfNeeded} will task the
+     * adjacent task of indicated launch target into account. So the existing task will be launched
+     * into closer target.
+     */
+    @Test
+    public void testAdjustLaunchTargetWithAdjacentTask() {
+        // Create adjacent tasks and put one activity under it
+        final Task parent = new TaskBuilder(mSupervisor).build();
+        final Task adjacentParent = new TaskBuilder(mSupervisor).build();
+        parent.setAdjacentTaskFragment(adjacentParent, true);
+        final ActivityRecord activity = new ActivityBuilder(mAtm)
+                .setParentTask(parent)
+                .setCreateTask(true).build();
+
+        // Launch the activity to its adjacent parent
+        final ActivityOptions options = ActivityOptions.makeBasic()
+                .setLaunchRootTask(adjacentParent.mRemoteToken.toWindowContainerToken());
+        prepareStarter(FLAG_ACTIVITY_NEW_TASK, false /* mockGetRootTask */)
+                .setReason("testAdjustLaunchTargetWithAdjacentTask")
+                .setIntent(activity.intent)
+                .setActivityOptions(options.toBundle())
+                .execute();
+
+        // Verify the activity will be launched into the original parent
+        assertTrue(activity.isDescendantOf(parent));
+    }
+
     /**
      * This test ensures that {@link ActivityStarter#setTargetRootTaskIfNeeded} will
      * move the existing task to front if the current focused root task doesn't have running task.