diff --git a/RELEASENOTES.md b/RELEASENOTES.md
index db15ff8653..3136cdadcc 100644
--- a/RELEASENOTES.md
+++ b/RELEASENOTES.md
@@ -64,6 +64,9 @@
   ([#5179](https://github.com/google/ExoPlayer/issues/5179)).
 * Fix issue with `TimelineQueueNavigator` not publishing the queue in shuffled
   order when in shuffle mode.
+* Fix issue where not resetting the position for a new `MediaSource` in calls to
+  `ExoPlayer.prepare` causes an `IndexOutOfBoundsException`
+  ([#5520](https://github.com/google/ExoPlayer/issues/5520)).
 
 ### 2.9.6 ###
 
diff --git a/library/core/src/main/java/com/google/android/exoplayer2/ExoPlayerImplInternal.java b/library/core/src/main/java/com/google/android/exoplayer2/ExoPlayerImplInternal.java
index f6013212d0..0a1a73023f 100644
--- a/library/core/src/main/java/com/google/android/exoplayer2/ExoPlayerImplInternal.java
+++ b/library/core/src/main/java/com/google/android/exoplayer2/ExoPlayerImplInternal.java
@@ -436,6 +436,12 @@ import java.util.concurrent.atomic.AtomicBoolean;
 
   private void prepareInternal(MediaSource mediaSource, boolean resetPosition, boolean resetState) {
     pendingPrepareCount++;
+    if (!resetPosition && pendingInitialSeekPosition == null && !playbackInfo.timeline.isEmpty()) {
+      playbackInfo.timeline.getPeriodByUid(playbackInfo.periodId.periodUid, period);
+      long windowPositionUs = playbackInfo.positionUs + period.getPositionInWindowUs();
+      pendingInitialSeekPosition =
+          new SeekPosition(Timeline.EMPTY, period.windowIndex, windowPositionUs);
+    }
     resetInternal(
         /* resetRenderers= */ false, /* releaseMediaSource= */ true, resetPosition, resetState);
     loadControl.onPrepared();
diff --git a/library/core/src/test/java/com/google/android/exoplayer2/ExoPlayerTest.java b/library/core/src/test/java/com/google/android/exoplayer2/ExoPlayerTest.java
index 9b41d19123..fa8445475b 100644
--- a/library/core/src/test/java/com/google/android/exoplayer2/ExoPlayerTest.java
+++ b/library/core/src/test/java/com/google/android/exoplayer2/ExoPlayerTest.java
@@ -1124,6 +1124,45 @@ public final class ExoPlayerTest {
     testRunner.assertPlayedPeriodIndices(0, 1);
   }
 
+  @Test
+  public void testReprepareAndKeepPositionWithNewMediaSource() throws Exception {
+    Timeline timeline =
+        new FakeTimeline(
+            new TimelineWindowDefinition(/* periodCount= */ 1, /* id= */ new Object()));
+    Timeline secondTimeline =
+        new FakeTimeline(
+            new TimelineWindowDefinition(/* periodCount= */ 1, /* id= */ new Object()));
+    MediaSource secondSource = new FakeMediaSource(secondTimeline, /* manifest= */ null);
+    AtomicLong positionAfterReprepare = new AtomicLong();
+    ActionSchedule actionSchedule =
+        new ActionSchedule.Builder("testReprepareAndKeepPositionWithNewMediaSource")
+            .pause()
+            .waitForPlaybackState(Player.STATE_READY)
+            .playUntilPosition(/* windowIndex= */ 0, /* positionMs= */ 2000)
+            .prepareSource(secondSource, /* resetPosition= */ false, /* resetState= */ true)
+            .waitForTimelineChanged(secondTimeline)
+            .executeRunnable(
+                new PlayerRunnable() {
+                  @Override
+                  public void run(SimpleExoPlayer player) {
+                    positionAfterReprepare.set(player.getCurrentPosition());
+                  }
+                })
+            .play()
+            .build();
+    ExoPlayerTestRunner testRunner =
+        new ExoPlayerTestRunner.Builder()
+            .setTimeline(timeline)
+            .setActionSchedule(actionSchedule)
+            .build(context)
+            .start()
+            .blockUntilActionScheduleFinished(TIMEOUT_MS)
+            .blockUntilEnded(TIMEOUT_MS);
+
+    testRunner.assertTimelinesEqual(timeline, Timeline.EMPTY, secondTimeline);
+    assertThat(positionAfterReprepare.get()).isAtLeast(2000L);
+  }
+
   @Test
   public void testStopDuringPreparationOverwritesPreparation() throws Exception {
     Timeline timeline = new FakeTimeline(/* windowCount= */ 1);