diff --git a/libraries/session/src/main/java/androidx/media3/session/MediaSessionLegacyStub.java b/libraries/session/src/main/java/androidx/media3/session/MediaSessionLegacyStub.java
index 4121904955..0f476641f5 100644
--- a/libraries/session/src/main/java/androidx/media3/session/MediaSessionLegacyStub.java
+++ b/libraries/session/src/main/java/androidx/media3/session/MediaSessionLegacyStub.java
@@ -189,6 +189,16 @@ import org.checkerframework.checker.initialization.qual.Initialized;
         });
   }
 
+  @Override
+  public void onCustomAction(String action, @Nullable Bundle extras) {
+    Bundle args = extras == null ? Bundle.EMPTY : extras;
+    SessionCommand command = new SessionCommand(action, args);
+    dispatchSessionTaskWithSessionCommand(
+        command,
+        controller ->
+            ignoreFuture(sessionImpl.onCustomCommandOnHandler(controller, command, args)));
+  }
+
   @Override
   public boolean onMediaButtonEvent(Intent mediaButtonEvent) {
     @Nullable KeyEvent keyEvent = mediaButtonEvent.getParcelableExtra(Intent.EXTRA_KEY_EVENT);
@@ -457,11 +467,6 @@ import org.checkerframework.checker.initialization.qual.Initialized;
         });
   }
 
-  @Override
-  public void onCustomAction(String action, @Nullable Bundle extras) {
-    // no-op
-  }
-
   @Override
   public void onSetCaptioningEnabled(boolean enabled) {
     // no-op
diff --git a/libraries/test_session_current/src/androidTest/java/androidx/media3/session/MediaSessionCallbackWithMediaControllerCompatTest.java b/libraries/test_session_current/src/androidTest/java/androidx/media3/session/MediaSessionCallbackWithMediaControllerCompatTest.java
index d328869726..4e9b368b87 100644
--- a/libraries/test_session_current/src/androidTest/java/androidx/media3/session/MediaSessionCallbackWithMediaControllerCompatTest.java
+++ b/libraries/test_session_current/src/androidTest/java/androidx/media3/session/MediaSessionCallbackWithMediaControllerCompatTest.java
@@ -701,6 +701,58 @@ public class MediaSessionCallbackWithMediaControllerCompatTest {
     assertThat(latch.await(TIMEOUT_MS, MILLISECONDS)).isTrue();
   }
 
+  @Test
+  public void sendCustomCommand() throws Exception {
+    String testCommand = "test_custom_command";
+    Bundle testArgs = new Bundle();
+    testArgs.putString("args", "test_custom_args");
+    SessionCommand customCommand = new SessionCommand(testCommand, /* extras= */ Bundle.EMPTY);
+    CountDownLatch latch = new CountDownLatch(1);
+    SessionCallback callback =
+        new SessionCallback() {
+          @Override
+          public MediaSession.ConnectionResult onConnect(
+              MediaSession session, ControllerInfo controller) {
+            if (EXPECTED_CONTROLLER_PACKAGE_NAME.equals(controller.getPackageName())) {
+              MediaSession.ConnectionResult connectionResult =
+                  SessionCallback.super.onConnect(session, controller);
+              SessionCommands.Builder builder =
+                  connectionResult.availableSessionCommands.buildUpon().add(customCommand);
+              return MediaSession.ConnectionResult.accept(
+                  /* availableSessionCommands= */ builder.build(),
+                  connectionResult.availablePlayerCommands);
+            } else {
+              return MediaSession.ConnectionResult.reject();
+            }
+          }
+
+          @Override
+          public ListenableFuture<SessionResult> onCustomCommand(
+              MediaSession session,
+              ControllerInfo controller,
+              SessionCommand sessionCommand,
+              Bundle args) {
+            if (sessionCommand.customAction.equals(testCommand)
+                && TestUtils.equals(testArgs, args)) {
+              latch.countDown();
+            }
+            return Futures.immediateFuture(new SessionResult(RESULT_SUCCESS));
+          }
+        };
+    session =
+        new MediaSession.Builder(context, player)
+            .setId("sendCommand")
+            .setSessionCallback(callback)
+            .build();
+    controller =
+        new RemoteMediaControllerCompat(
+            context, session.getSessionCompat().getSessionToken(), /* waitForConnection= */ true);
+
+    controller.sendCustomCommand(customCommand, testArgs);
+
+    assertThat(latch.await(TIMEOUT_MS, MILLISECONDS)).isTrue();
+  }
+
   @Test
   public void controllerCallback_sessionRejects() throws Exception {
     SessionCallback sessionCallback =
diff --git a/libraries/test_session_current/src/main/java/androidx/media3/session/RemoteMediaControllerCompat.java b/libraries/test_session_current/src/main/java/androidx/media3/session/RemoteMediaControllerCompat.java
index 679cc82b02..9d496bf30e 100644
--- a/libraries/test_session_current/src/main/java/androidx/media3/session/RemoteMediaControllerCompat.java
+++ b/libraries/test_session_current/src/main/java/androidx/media3/session/RemoteMediaControllerCompat.java
@@ -120,6 +120,11 @@ public class RemoteMediaControllerCompat {
     binder.sendCommand(controllerId, command, params, cb);
   }
 
+  public void sendCustomCommand(SessionCommand customCommand, Bundle params)
+      throws RemoteException {
+    binder.sendCustomActionWithName(controllerId, customCommand.customAction, params);
+  }
+
   ////////////////////////////////////////////////////////////////////////////////
   // MediaControllerCompat.TransportControls methods
   ////////////////////////////////////////////////////////////////////////////////