diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
index 1cb332597dfa97..f77e3cb5b9dc5f 100644
--- a/Tools/autotest/arducopter.py
+++ b/Tools/autotest/arducopter.py
@@ -3226,6 +3226,71 @@ def FlyMissionTwice(self):
             self.wait_disarmed()
             self.delay_sim_time(20)
 
+    def FlyMissionTwiceWithReset(self):
+        '''Fly a mission twice in a row without changing modes in between.
+        Allow the mission to complete, then reset the mission state machine and restart the mission.'''
+
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
+        ])
+
+        num_wp = self.get_mission_count()
+        self.set_parameter("AUTO_OPTIONS", 3)
+        self.change_mode('AUTO')
+        self.wait_ready_to_arm()
+
+        for i in 1, 2:
+            self.progress("run %u" % i)
+            # Use the "Reset Mission" param of DO_SET_MISSION_CURRENT to reset mission state machine
+            self.set_current_waypoint_using_mav_cmd_do_set_mission_current(seq=0, reset=1)
+            self.arm_vehicle()
+            self.wait_waypoint(num_wp-1, num_wp-1)
+            self.wait_disarmed()
+            self.delay_sim_time(20)
+
+    def MissionIndexValidity(self):
+        '''Confirm that attempting to select an invalid mission item is rejected.'''
+
+        self.upload_simple_relhome_mission([
+            (mavutil.mavlink.MAV_CMD_NAV_TAKEOFF, 0, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_WAYPOINT, 20, 0, 20),
+            (mavutil.mavlink.MAV_CMD_NAV_RETURN_TO_LAUNCH, 0, 0, 0),
+        ])
+
+        num_wp = self.get_mission_count()
+        accepted_indices = [0, 1, num_wp-1]
+        denied_indices = [-1, num_wp]
+
+        for seq in accepted_indices:
+            self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
+                         p1=seq,
+                         timeout=1,
+                         want_result=mavutil.mavlink.MAV_RESULT_ACCEPTED)
+
+        for seq in denied_indices:
+            self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
+                         p1=seq,
+                         timeout=1,
+                         want_result=mavutil.mavlink.MAV_RESULT_DENIED)
+
+    def InvalidJumpTags(self):
+        '''Verify the behaviour when selecting invalid jump tags.'''
+
+        MAX_TAG_NUM = 65535
+        # Jump tag is not present, so expect FAILED
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
+                     p1=MAX_TAG_NUM,
+                     timeout=1,
+                     want_result=mavutil.mavlink.MAV_RESULT_FAILED)
+
+        # Jump tag is too big, so expect DENIED
+        self.run_cmd(mavutil.mavlink.MAV_CMD_DO_JUMP_TAG,
+                     p1=MAX_TAG_NUM+1,
+                     timeout=1,
+                     want_result=mavutil.mavlink.MAV_RESULT_DENIED)
+
     def GPSViconSwitching(self):
         """Fly GPS and Vicon switching test"""
         self.customise_SITL_commandline(["--uartF=sim:vicon:"])
@@ -10544,6 +10609,9 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.ThrottleGainBoost,
             self.ScriptMountPOI,
             self.FlyMissionTwice,
+            self.FlyMissionTwiceWithReset,
+            self.MissionIndexValidity,
+            self.InvalidJumpTags,
             self.IMUConsistency,
             self.AHRSTrimLand,
             self.GuidedYawRate,
diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index ab13d592fc7679..c82dca3c0210e6 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -6055,7 +6055,7 @@ def MAV_CMD_DO_SET_MISSION_CURRENT(self, target_sysid=None, target_compid=1):
             timeout=1,
             target_sysid=target_sysid,
             target_compid=target_compid,
-            want_result=mavutil.mavlink.MAV_RESULT_FAILED,
+            want_result=mavutil.mavlink.MAV_RESULT_DENIED,
         )
 
     def FlashStorage(self):
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index 543bb6d5d04963..6aa9d1f18a8276 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -5897,10 +5897,12 @@ def run_cmd_get_ack(self, command, want_result, timeout, quiet=False, mav=None,
     def set_current_waypoint_using_mav_cmd_do_set_mission_current(
             self,
             seq,
+            reset=0,
             target_sysid=1,
             target_compid=1):
         self.run_cmd(mavutil.mavlink.MAV_CMD_DO_SET_MISSION_CURRENT,
                      p1=seq,
+                     p2=reset,
                      timeout=1,
                      target_sysid=target_sysid,
                      target_compid=target_compid)
diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index a000e7ba91116b..3487d3a974fcaa 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -538,7 +538,7 @@ int32_t AP_Mission::get_next_ground_course_cd(int32_t default_angle)
 }
 
 // set_current_cmd - jumps to command specified by index
-bool AP_Mission::set_current_cmd(uint16_t index, bool rewind)
+bool AP_Mission::set_current_cmd(uint16_t index)
 {
     // read command to check for DO_LAND_START
     Mission_Command cmd;
@@ -546,10 +546,8 @@ bool AP_Mission::set_current_cmd(uint16_t index, bool rewind)
         _flags.in_landing_sequence = false;
     }
 
-    // mission command has been set and not as rewind command, don't track history.
-    if (!rewind) {
-        reset_wp_history();
-    }
+    // mission command has been set, don't track history.
+    reset_wp_history();
 
     // sanity check index and that we have a mission
     if (index >= (unsigned)_cmd_total || _cmd_total == 1) {
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index e01c372ffa3c16..b50fa4d9822b0b 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -601,7 +601,7 @@ class AP_Mission
     }
 
     // set_current_cmd - jumps to command specified by index
-    bool set_current_cmd(uint16_t index, bool rewind = false);
+    bool set_current_cmd(uint16_t index);
 
     // restart current navigation command.  Used to handle external changes to mission
     // returns true on success, false if current nav command has been deleted
@@ -724,6 +724,8 @@ class AP_Mission
     // Returns 0 if no appropriate JUMP_TAG match can be found.
     uint16_t get_index_of_jump_tag(const uint16_t tag) const;
 
+    bool is_valid_index(const uint16_t index) const { return index < _cmd_total; }
+
 #if AP_SDCARD_STORAGE_ENABLED
     bool failed_sdcard_storage(void) const {
         return _failed_sdcard_storage;
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 7dbd32ef4be56e..897ef275e06ea1 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -639,6 +639,7 @@ class GCS_MAVLINK
     virtual MAV_RESULT _handle_command_preflight_calibration_baro(const mavlink_message_t &msg);
 
     virtual MAV_RESULT handle_command_do_set_mission_current(const mavlink_command_long_t &packet);
+    MAV_RESULT handle_command_do_jump_tag(const mavlink_command_long_t &packet);
 
     MAV_RESULT handle_command_battery_reset(const mavlink_command_int_t &packet);
     void handle_command_long(const mavlink_message_t &msg);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 371f16a8641a74..19b33b06c56a8e 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -4452,8 +4452,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_run_prearm_checks(const mavlink_command_i
 // the current waypoint, rather than this DO command.  It is hoped we
 // can move to this command in the future to avoid acknowledgement
 // issues with MISSION_SET_CURRENT
-// This also handles DO_JUMP_TAG by converting the tag to an index
-// and setting the index as if it was a normal do_set_mission_current
 MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_command_long_t &packet)
 {
     AP_Mission *mission = AP::mission();
@@ -4462,11 +4460,43 @@ MAV_RESULT GCS_MAVLINK::handle_command_do_set_mission_current(const mavlink_comm
     }
 
     const uint32_t seq = (uint32_t)packet.param1;
-    if (packet.command == MAV_CMD_DO_JUMP_TAG) {
-        if (!mission->jump_to_tag(seq)) {
-            return MAV_RESULT_FAILED;
-        }
-    } else if (!mission->set_current_cmd(seq)) {
+    if (!mission->is_valid_index(seq)) {
+        return MAV_RESULT_DENIED;
+    }
+
+    // From https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_MISSION_CURRENT:
+    //   Param 2: Reset Mission
+    //     - Resets mission. 1: true, 0: false. Resets jump counters to initial values
+    //       and changes mission state "completed" to be "active" or "paused".
+    const bool reset_and_restart = is_equal(packet.param2, 1.0f);
+    if (reset_and_restart) {
+        mission->reset();
+    }
+    if (!mission->set_current_cmd(seq)) {
+        return MAV_RESULT_FAILED;
+    }
+    if (reset_and_restart) {
+        mission->resume();
+    }
+
+    // volunteer the new current waypoint for all listeners
+    send_message(MSG_CURRENT_WAYPOINT);
+
+    return MAV_RESULT_ACCEPTED;
+}
+
+MAV_RESULT GCS_MAVLINK::handle_command_do_jump_tag(const mavlink_command_long_t &packet)
+{
+    AP_Mission *mission = AP::mission();
+    if (mission == nullptr) {
+        return MAV_RESULT_UNSUPPORTED;
+    }
+
+    const uint32_t tag = (uint32_t)packet.param1;
+    if (tag > UINT16_MAX) {
+        return MAV_RESULT_DENIED;
+    }
+    if (!mission->jump_to_tag(tag)) {
         return MAV_RESULT_FAILED;
     }
 
@@ -4735,6 +4765,9 @@ MAV_RESULT GCS_MAVLINK::handle_command_long_packet(const mavlink_command_long_t
 #endif
 
     case MAV_CMD_DO_JUMP_TAG:
+        result = handle_command_do_jump_tag(packet);
+        break;
+
     case MAV_CMD_DO_SET_MISSION_CURRENT:
         result = handle_command_do_set_mission_current(packet);
         break;