diff --git a/packages/SystemUI/AndroidManifest.xml b/packages/SystemUI/AndroidManifest.xml
index 9839446..7222cff 100644
--- a/packages/SystemUI/AndroidManifest.xml
+++ b/packages/SystemUI/AndroidManifest.xml
@@ -366,7 +366,6 @@
             android:name="com.android.systemui.tv.pip.PipOverlayActivity"
             android:exported="true"
             android:theme="@style/PipTheme"
-            android:launchMode="singleTop"
             android:taskAffinity=""
             android:configChanges="screenSize|smallestScreenSize|screenLayout|orientation"
             android:resizeableActivity="true"
diff --git a/packages/SystemUI/src/com/android/systemui/tv/pip/PipManager.java b/packages/SystemUI/src/com/android/systemui/tv/pip/PipManager.java
index b5c1f57..fe54090 100644
--- a/packages/SystemUI/src/com/android/systemui/tv/pip/PipManager.java
+++ b/packages/SystemUI/src/com/android/systemui/tv/pip/PipManager.java
@@ -265,11 +265,7 @@
      */
     private void showPipOverlay() {
         if (DEBUG) Log.d(TAG, "showPipOverlay()");
-        Intent intent = new Intent(mContext, PipOverlayActivity.class);
-        intent.setFlags(Intent.FLAG_ACTIVITY_NEW_TASK);
-        final ActivityOptions options = ActivityOptions.makeBasic();
-        options.setLaunchStackId(PINNED_STACK_ID);
-        mContext.startActivity(intent, options.toBundle());
+        PipOverlayActivity.showPipOverlay(mContext);
     }
 
     /**
@@ -635,7 +631,7 @@
         void onPipActivityClosed();
         /** Invoked when the PIP menu gets shown. */
         void onShowPipMenu();
-        /** Invoked when the PIPed activity is returned back to the fullscreen. */
+        /** Invoked when the PIPed activity is about to return back to the fullscreen. */
         void onMoveToFullscreen();
         /** Invoked when we are above to start resizing the Pip. */
         void onPipResizeAboutToStart();
diff --git a/packages/SystemUI/src/com/android/systemui/tv/pip/PipMenuActivity.java b/packages/SystemUI/src/com/android/systemui/tv/pip/PipMenuActivity.java
index c54e73a..854e09d 100644
--- a/packages/SystemUI/src/com/android/systemui/tv/pip/PipMenuActivity.java
+++ b/packages/SystemUI/src/com/android/systemui/tv/pip/PipMenuActivity.java
@@ -30,6 +30,7 @@
     private final PipManager mPipManager = PipManager.getInstance();
 
     private PipControlsView mPipControlsView;
+    private boolean mRestorePipSizeWhenClose;
 
     @Override
     protected void onCreate(Bundle bundle) {
@@ -38,12 +39,21 @@
         mPipManager.addListener(this);
 
         mPipControlsView = (PipControlsView) findViewById(R.id.pip_controls);
+        mRestorePipSizeWhenClose = true;
+    }
+
+    private void restorePipAndFinish() {
+        if (mRestorePipSizeWhenClose) {
+            // When PIP menu activity is closed, restore to the default position.
+            mPipManager.resizePinnedStack(PipManager.STATE_PIP_OVERLAY);
+        }
+        finish();
     }
 
     @Override
     public void onPause() {
         super.onPause();
-        finish();
+        restorePipAndFinish();
     }
 
     @Override
@@ -55,6 +65,11 @@
     }
 
     @Override
+    public void onBackPressed() {
+        restorePipAndFinish();
+    }
+
+    @Override
     public void onPipEntered() { }
 
     @Override
@@ -67,6 +82,9 @@
 
     @Override
     public void onMoveToFullscreen() {
+        // Moving PIP to fullscreen is implemented by resizing PINNED_STACK with null bounds.
+        // This conflicts with restoring PIP position, so disable it.
+        mRestorePipSizeWhenClose = false;
         finish();
     }
 
diff --git a/packages/SystemUI/src/com/android/systemui/tv/pip/PipOverlayActivity.java b/packages/SystemUI/src/com/android/systemui/tv/pip/PipOverlayActivity.java
index 5472ad6..e205ff5 100644
--- a/packages/SystemUI/src/com/android/systemui/tv/pip/PipOverlayActivity.java
+++ b/packages/SystemUI/src/com/android/systemui/tv/pip/PipOverlayActivity.java
@@ -35,6 +35,14 @@
 public class PipOverlayActivity extends Activity implements PipManager.Listener {
     private static final long SHOW_GUIDE_OVERLAY_VIEW_DURATION_MS = 4000;
 
+    /**
+     * A flag to ensure the single instance of PipOverlayActivity to prevent it from restarting.
+     * Note that {@link PipManager} moves the PIPed activity to fullscreen if the activity is
+     * restarted. It's because the activity may be started by the Launcher or an intent again,
+     * but we don't want do so for the PipOverlayActivity.
+     */
+    private static boolean sActivityCreated;
+
     private final PipManager mPipManager = PipManager.getInstance();
     private final Handler mHandler = new Handler();
     private View mGuideOverlayView;
@@ -46,9 +54,23 @@
         }
     };
 
+    /**
+     * Shows PIP overlay UI only if it's not there.
+     */
+    static void showPipOverlay(Context context) {
+        if (!sActivityCreated) {
+            Intent intent = new Intent(context, PipOverlayActivity.class);
+            intent.setFlags(Intent.FLAG_ACTIVITY_NEW_TASK);
+            final ActivityOptions options = ActivityOptions.makeBasic();
+            options.setLaunchStackId(PINNED_STACK_ID);
+            context.startActivity(intent, options.toBundle());
+        }
+    }
+
     @Override
     protected void onCreate(Bundle bundle) {
         super.onCreate(bundle);
+        sActivityCreated = true;
         setContentView(R.layout.tv_pip_overlay);
         mGuideOverlayView = findViewById(R.id.guide_overlay);
         mPipManager.addListener(this);
@@ -71,6 +93,7 @@
     @Override
     protected void onDestroy() {
         super.onDestroy();
+        sActivityCreated = false;
         mHandler.removeCallbacksAndMessages(null);
         mPipManager.removeListener(this);
         mPipManager.resumePipResizing(