diff --git a/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/HomeAndRetry.tsx b/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/HomeAndRetry.tsx
new file mode 100644
index 00000000000..86840c7592c
--- /dev/null
+++ b/app/src/organisms/ErrorRecoveryFlows/RecoveryOptions/HomeAndRetry.tsx
@@ -0,0 +1,98 @@
+import { Trans, useTranslation } from 'react-i18next'
+import { LegacyStyledText } from '@opentrons/components'
+import { RECOVERY_MAP } from '../constants'
+import { TwoColTextAndFailedStepNextStep } from '../shared'
+import { RetryStep } from './RetryStep'
+import { ManageTips } from './ManageTips'
+import { SelectRecoveryOption } from './SelectRecoveryOption'
+
+import type { RecoveryContentProps } from '../types'
+
+const { HOME_AND_RETRY } = RECOVERY_MAP
+export function HomeAndRetry(props: RecoveryContentProps): JSX.Element {
+  const { recoveryMap } = props
+  const { route, step } = recoveryMap
+  switch (step) {
+    case HOME_AND_RETRY.STEPS.PREPARE_DECK_FOR_HOME: {
+      return <PrepareDeckForHome {...props} />
+    }
+    case HOME_AND_RETRY.STEPS.REMOVE_TIPS_FROM_PIPETTE: {
+      return <ManageTips {...props} />
+    }
+    case HOME_AND_RETRY.STEPS.HOME_BEFORE_RETRY: {
+      return <HomeGantryBeforeRetry {...props} />
+    }
+    case HOME_AND_RETRY.STEPS.CONFIRM_RETRY: {
+      return <RetryStep {...props} />
+    }
+    default:
+      console.warn(
+        `HomeAndRetry:  ${step} in ${route} not explicitly handled. Rerouting.}`
+      )
+      return <SelectRecoveryOption {...props} />
+  }
+}
+
+export function PrepareDeckForHome(props: RecoveryContentProps): JSX.Element {
+  const { t } = useTranslation('error_recovery')
+  const { routeUpdateActions } = props
+  const { proceedToRouteAndStep } = routeUpdateActions
+  const primaryBtnOnClick = (): Promise<void> =>
+    proceedToRouteAndStep(
+      RECOVERY_MAP.HOME_AND_RETRY.ROUTE,
+      RECOVERY_MAP.HOME_AND_RETRY.STEPS.REMOVE_TIPS_FROM_PIPETTE
+    )
+  const buildBodyText = (): JSX.Element => (
+    <Trans
+      t={t}
+      i18nKey="carefully_move_labware"
+      components={{ block: <LegacyStyledText as="p" /> }}
+    />
+  )
+  return (
+    <TwoColTextAndFailedStepNextStep
+      {...props}
+      leftColTitle={t('prepare_deck_for_homing')}
+      leftColBodyText={buildBodyText()}
+      primaryBtnCopy={t('continue')}
+      primaryBtnOnClick={primaryBtnOnClick}
+    />
+  )
+}
+
+export function HomeGantryBeforeRetry(
+  props: RecoveryContentProps
+): JSX.Element {
+  const { t } = useTranslation('error_recovery')
+  const { recoveryCommands, routeUpdateActions } = props
+  const { homeAll } = recoveryCommands
+  const { handleMotionRouting, proceedToRouteAndStep } = routeUpdateActions
+  const { HOME_AND_RETRY } = RECOVERY_MAP
+  const buildBodyText = (): JSX.Element => (
+    <Trans
+      t={t}
+      i18nKey="take_necessary_actions_home"
+      components={{ block: <LegacyStyledText as="p" /> }}
+    />
+  )
+  const primaryBtnOnClick = (): Promise<void> =>
+    handleMotionRouting(true)
+      .then(() => homeAll())
+      .then(() => handleMotionRouting(false))
+      .then(() =>
+        proceedToRouteAndStep(
+          HOME_AND_RETRY.ROUTE,
+          HOME_AND_RETRY.STEPS.CONFIRM_RETRY
+        )
+      )
+
+  return (
+    <TwoColTextAndFailedStepNextStep
+      {...props}
+      leftColTitle={t('home_gantry')}
+      leftColBodyText={buildBodyText()}
+      primaryBtnCopy={t('home_now')}
+      primaryBtnOnClick={primaryBtnOnClick}
+    />
+  )
+}
diff --git a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts
index 4ce5194aca4..4961d363903 100644
--- a/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts
+++ b/app/src/organisms/ErrorRecoveryFlows/hooks/useRecoveryCommands.ts
@@ -72,6 +72,9 @@ export interface UseRecoveryCommandsResult {
   homeExceptPlungers: () => Promise<CommandData[]>
   /* A non-terminal recovery command */
   moveLabwareWithoutPause: () => Promise<CommandData[]>
+
+  /* Home all attached axes */
+  homeAll: () => Promise<CommandData[]>
 }
 
 // TODO(jh, 07-24-24): Create tighter abstractions for terminal vs. non-terminal commands.
@@ -349,6 +352,12 @@ export const RELEASE_GRIPPER_JAW: CreateCommand = {
   intent: 'fixit',
 }
 
+export const HOME_ALL: CreateCommand = {
+  commandType: 'home',
+  params: {},
+  intent: 'fixit',
+}
+
 // in case the gripper does not know the position after a stall/collision we must update the position.
 export const UPDATE_ESTIMATORS_EXCEPT_PLUNGERS: CreateCommand = {
   commandType: 'unsafe/updatePositionEstimators',