diff --git a/api/src/opentrons/protocol_api/instrument_context.py b/api/src/opentrons/protocol_api/instrument_context.py
index a655cc372850..0ac6bd994b15 100644
--- a/api/src/opentrons/protocol_api/instrument_context.py
+++ b/api/src/opentrons/protocol_api/instrument_context.py
@@ -778,6 +778,7 @@ def air_gap(
         target = loc.labware.as_well().top(height)
         self.move_to(target, publish=False)
         if self.api_version >= _AIR_GAP_TRACKING_ADDED_IN:
+            self._core.prepare_to_aspirate()
             c_vol = self._core.get_available_volume() if volume is None else volume
             flow_rate = self._core.get_aspirate_flow_rate()
             self._core.air_gap_in_place(c_vol, flow_rate)
diff --git a/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py b/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py
index bf6b23d5d316..46be3e0c6d2a 100644
--- a/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py
+++ b/api/src/opentrons/protocol_engine/commands/prepare_to_aspirate.py
@@ -5,7 +5,11 @@
 from typing import TYPE_CHECKING, Optional, Type, Union
 from typing_extensions import Literal
 
-from .pipetting_common import OverpressureError, PipetteIdMixin, prepare_for_aspirate
+from .pipetting_common import (
+    OverpressureError,
+    PipetteIdMixin,
+    prepare_for_aspirate,
+)
 from .command import (
     AbstractCommandImpl,
     BaseCommand,
@@ -66,6 +70,14 @@ def _transform_result(
 
     async def execute(self, params: PrepareToAspirateParams) -> _ExecuteReturn:
         """Prepare the pipette to aspirate."""
+        ready_to_aspirate = self._pipetting_handler.get_is_ready_to_aspirate(
+            pipette_id=params.pipetteId
+        )
+        if ready_to_aspirate:
+            return SuccessData(
+                public=PrepareToAspirateResult(),
+            )
+
         current_position = await self._gantry_mover.get_position(params.pipetteId)
         prepare_result = await prepare_for_aspirate(
             pipette_id=params.pipetteId,
@@ -79,6 +91,7 @@ async def execute(self, params: PrepareToAspirateParams) -> _ExecuteReturn:
                 )
             },
         )
+
         if isinstance(prepare_result, DefinedErrorData):
             return prepare_result
         else:
diff --git a/api/tests/opentrons/protocol_api/test_instrument_context.py b/api/tests/opentrons/protocol_api/test_instrument_context.py
index c9c82046113a..1b8234c4eb21 100644
--- a/api/tests/opentrons/protocol_api/test_instrument_context.py
+++ b/api/tests/opentrons/protocol_api/test_instrument_context.py
@@ -1786,6 +1786,7 @@ def test_air_gap_uses_air_gap(
     subject.air_gap(volume=10, height=5)
 
     decoy.verify(mock_move_to(top_location, publish=False))
+    decoy.verify(mock_instrument_core.prepare_to_aspirate())
     decoy.verify(mock_instrument_core.air_gap_in_place(10, 11))
 
 
diff --git a/api/tests/opentrons/protocol_engine/commands/test_prepare_to_aspirate.py b/api/tests/opentrons/protocol_engine/commands/test_prepare_to_aspirate.py
index a113d2670fa8..70edc48b6507 100644
--- a/api/tests/opentrons/protocol_engine/commands/test_prepare_to_aspirate.py
+++ b/api/tests/opentrons/protocol_engine/commands/test_prepare_to_aspirate.py
@@ -1,4 +1,5 @@
 """Test prepare to aspirate commands."""
+
 from datetime import datetime
 from opentrons.types import Point
 import pytest
@@ -42,7 +43,9 @@ async def test_prepare_to_aspirate_implementation(
     """A PrepareToAspirate command should have an executing implementation."""
     data = PrepareToAspirateParams(pipetteId="some id")
     position = Point(x=1, y=2, z=3)
-
+    decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id="some id")).then_return(
+        False
+    )
     decoy.when(await pipetting.prepare_for_aspirate(pipette_id="some id")).then_return(
         None
     )
@@ -81,6 +84,9 @@ async def test_overpressure_error(
     data = PrepareToAspirateParams(
         pipetteId=pipette_id,
     )
+    decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id="pipette-id")).then_return(
+        False
+    )
 
     decoy.when(
         await pipetting.prepare_for_aspirate(
@@ -107,3 +113,26 @@ async def test_overpressure_error(
             )
         ),
     )
+
+
+async def test_prepare_noops_if_prepared(
+    decoy: Decoy,
+    gantry_mover: GantryMover,
+    pipetting: PipettingHandler,
+    subject: PrepareToAspirateImplementation,
+    model_utils: ModelUtils,
+) -> None:
+    """It should do nothing if the pipette does not need to be prepared."""
+    data = PrepareToAspirateParams(pipetteId="some id")
+    position = Point(x=1, y=2, z=3)
+    decoy.when(pipetting.get_is_ready_to_aspirate(pipette_id="some id")).then_return(
+        True
+    )
+    decoy.when(await gantry_mover.get_position("some id")).then_return(position)
+
+    result = await subject.execute(data)
+    decoy.verify(await pipetting.prepare_for_aspirate(pipette_id="some id"), times=0)
+    assert result == SuccessData(
+        public=PrepareToAspirateResult(),
+        state_update=update_types.StateUpdate(),
+    )