diff --git a/Cargo.toml b/Cargo.toml
index 7feb450cc82be..6c635312bb456 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -317,6 +317,10 @@ path = "examples/ecs/timers.rs"
 name = "query_bundle"
 path = "examples/ecs/query_bundle.rs"
 
+[[example]]
+name = "dynamic_schedule"
+path = "examples/ecs/dynamic_schedule.rs"
+
 # Games
 [[example]]
 name = "alien_cake_addict"
diff --git a/crates/bevy_ecs/src/schedule/commands.rs b/crates/bevy_ecs/src/schedule/commands.rs
new file mode 100644
index 0000000000000..29d574d972eb5
--- /dev/null
+++ b/crates/bevy_ecs/src/schedule/commands.rs
@@ -0,0 +1,141 @@
+use super::{Schedule, StageLabel, SystemDescriptor};
+use crate::system::Command;
+use crate::world::World;
+
+#[derive(Default)]
+pub struct SchedulerCommandQueue {
+    items: Vec<Box<dyn SchedulerCommand>>,
+}
+
+impl SchedulerCommandQueue {
+    pub fn push<C>(&mut self, command: C)
+    where
+        C: SchedulerCommand,
+    {
+        self.items.push(Box::new(command));
+    }
+
+    pub fn apply(&mut self, schedule: &mut Schedule, offset: usize) {
+        for command in self.items.drain(offset..) {
+            command.write(schedule);
+        }
+    }
+
+    pub fn len(&self) -> usize {
+        self.items.len()
+    }
+
+    pub fn is_empty(&self) -> bool {
+        self.items.is_empty()
+    }
+}
+
+/// A [`Schedule`] mutation.
+pub trait SchedulerCommand: Send + Sync + 'static {
+    fn write(self: Box<Self>, schedule: &mut Schedule);
+}
+
+impl<T> Command for T
+where
+    T: SchedulerCommand,
+{
+    fn write(self, world: &mut World) {
+        world.scheduler_commands.push(self);
+    }
+}
+
+pub struct InsertSystem<S>
+where
+    S: StageLabel,
+{
+    pub system: SystemDescriptor,
+    pub stage_label: S,
+}
+
+impl<S> SchedulerCommand for InsertSystem<S>
+where
+    S: StageLabel,
+{
+    fn write(self: Box<Self>, schedule: &mut Schedule) {
+        schedule.add_system_to_stage(self.stage_label, self.system);
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::{
+        prelude::ResMut,
+        schedule::{
+            InsertSystem, IntoSystemDescriptor, Schedule, SchedulerCommandQueue, SystemStage,
+        },
+        system::Commands,
+        world::World,
+    };
+
+    #[test]
+    fn insert_system() {
+        fn sample_system(mut _commands: Commands) {}
+        let mut schedule = Schedule::default();
+        schedule.add_stage("test", SystemStage::parallel());
+        let mut queue = SchedulerCommandQueue::default();
+        queue.push(InsertSystem {
+            system: sample_system.into_descriptor(),
+            stage_label: "test",
+        });
+        queue.apply(&mut schedule, 0);
+
+        let stage = schedule.get_stage::<SystemStage>(&"test").unwrap();
+        assert_eq!(stage.parallel_systems().len(), 1);
+    }
+
+    #[derive(Debug, Default, PartialEq)]
+    struct TestResource(Option<()>);
+
+    #[test]
+    fn insert_system_from_system() {
+        fn sample_system(mut commands: Commands) {
+            commands.insert_system(
+                |mut res: ResMut<TestResource>| {
+                    res.0 = Some(());
+                },
+                "test",
+            );
+        }
+
+        let mut world = World::default();
+        world.insert_resource(TestResource(None));
+
+        let mut schedule = Schedule::default();
+        schedule.add_stage("test", SystemStage::parallel());
+        schedule.add_system_to_stage("test", sample_system);
+        schedule.run_once(&mut world);
+
+        let stage = schedule.get_stage::<SystemStage>(&"test").unwrap();
+        assert_eq!(stage.parallel_systems().len(), 2);
+
+        schedule.run_once(&mut world);
+        assert_eq!(
+            world.get_resource::<TestResource>(),
+            Some(&TestResource(Some(())))
+        );
+    }
+
+    #[test]
+    fn insert_with_nested_schedule() {
+        fn sample_system(mut commands: Commands) {
+            commands.insert_system(|| {}, "test");
+        }
+
+        let mut world = World::default();
+
+        let nested_schedule = Schedule::default();
+        let mut schedule = Schedule::default();
+        schedule.add_stage("test", SystemStage::parallel());
+        schedule.add_system_to_stage("test", sample_system);
+        schedule.add_stage("nested", nested_schedule);
+        schedule.run_once(&mut world);
+
+        let stage = schedule.get_stage::<SystemStage>(&"test").unwrap();
+        assert_eq!(stage.parallel_systems().len(), 2);
+    }
+}
diff --git a/crates/bevy_ecs/src/schedule/mod.rs b/crates/bevy_ecs/src/schedule/mod.rs
index 67f21025cf0bf..739eb170f2d27 100644
--- a/crates/bevy_ecs/src/schedule/mod.rs
+++ b/crates/bevy_ecs/src/schedule/mod.rs
@@ -1,3 +1,4 @@
+mod commands;
 mod executor;
 mod executor_parallel;
 pub mod graph_utils;
@@ -9,6 +10,7 @@ mod system_container;
 mod system_descriptor;
 mod system_set;
 
+pub use commands::*;
 pub use executor::*;
 pub use executor_parallel::*;
 pub use graph_utils::GraphNode;
@@ -198,6 +200,8 @@ impl Schedule {
     }
 
     pub fn run_once(&mut self, world: &mut World) {
+        let existing_commands = world.scheduler_commands.len();
+
         for label in self.stage_order.iter() {
             #[cfg(feature = "trace")]
             let stage_span =
@@ -207,6 +211,8 @@ impl Schedule {
             let stage = self.stages.get_mut(label).unwrap();
             stage.run(world);
         }
+
+        world.scheduler_commands.apply(self, existing_commands);
     }
 
     /// Iterates over all of schedule's stages and their labels, in execution order.
diff --git a/crates/bevy_ecs/src/schedule/system_descriptor.rs b/crates/bevy_ecs/src/schedule/system_descriptor.rs
index b75fbcb89f3db..f20e57d4908df 100644
--- a/crates/bevy_ecs/src/schedule/system_descriptor.rs
+++ b/crates/bevy_ecs/src/schedule/system_descriptor.rs
@@ -45,6 +45,12 @@ pub trait IntoSystemDescriptor<Params> {
 
 pub struct SystemLabelMarker;
 
+impl IntoSystemDescriptor<()> for SystemDescriptor {
+    fn into_descriptor(self) -> SystemDescriptor {
+        self
+    }
+}
+
 impl IntoSystemDescriptor<()> for ParallelSystemDescriptor {
     fn into_descriptor(self) -> SystemDescriptor {
         SystemDescriptor::Parallel(self)
diff --git a/crates/bevy_ecs/src/system/commands/mod.rs b/crates/bevy_ecs/src/system/commands/mod.rs
index 0488b09e4f770..711e2578d0ed6 100644
--- a/crates/bevy_ecs/src/system/commands/mod.rs
+++ b/crates/bevy_ecs/src/system/commands/mod.rs
@@ -4,6 +4,7 @@ use crate::{
     bundle::Bundle,
     component::Component,
     entity::{Entities, Entity},
+    schedule::{InsertSystem, IntoSystemDescriptor, StageLabel},
     world::World,
 };
 use bevy_utils::tracing::debug;
@@ -152,6 +153,43 @@ impl<'a> Commands<'a> {
         });
     }
 
+    /// Inserts a [`crate::system::System`] into a [`crate::schedule::Stage`]
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// use bevy_ecs::prelude::*;
+    ///
+    /// // A system like any other
+    /// fn another_system(mut commands: Commands) {
+    ///     let entity = commands.spawn().id();
+    /// }
+    ///
+    /// fn example_system(mut commands: Commands) {
+    ///     commands.insert_system(another_system, "some stage");
+    /// }
+    ///
+    /// let mut world = World::default();
+    /// let mut schedule = Schedule::default();
+    /// schedule.add_stage("some stage", SystemStage::parallel());
+    /// schedule.add_system_to_stage("some stage", example_system);
+    /// // When we run the schedule
+    /// schedule.run_once(&mut world);
+    /// // We should now have 2 systems in "test", the initial system and the inserted system
+    /// let stage = schedule.get_stage::<SystemStage>(&"some stage").unwrap();
+    /// assert_eq!(stage.parallel_systems().len(), 2);
+    /// ```
+    pub fn insert_system<T, S, Params>(&mut self, system: T, stage_label: S)
+    where
+        T: IntoSystemDescriptor<Params>,
+        S: StageLabel,
+    {
+        self.queue.push(InsertSystem {
+            system: system.into_descriptor(),
+            stage_label,
+        });
+    }
+
     /// Adds a command directly to the command list.
     pub fn add<C: Command>(&mut self, command: C) {
         self.queue.push(command);
diff --git a/crates/bevy_ecs/src/world/mod.rs b/crates/bevy_ecs/src/world/mod.rs
index 5068fdc4e5074..c0a579a854ae4 100644
--- a/crates/bevy_ecs/src/world/mod.rs
+++ b/crates/bevy_ecs/src/world/mod.rs
@@ -18,6 +18,7 @@ use crate::{
     },
     entity::{Entities, Entity},
     query::{FilterFetch, QueryState, WorldQuery},
+    schedule::SchedulerCommandQueue,
     storage::{Column, SparseSet, Storages},
 };
 use std::{
@@ -53,6 +54,7 @@ pub struct World {
     main_thread_validator: MainThreadValidator,
     pub(crate) change_tick: AtomicU32,
     pub(crate) last_change_tick: u32,
+    pub(crate) scheduler_commands: SchedulerCommandQueue,
 }
 
 impl Default for World {
@@ -71,6 +73,7 @@ impl Default for World {
             // are detected on first system runs and for direct world queries.
             change_tick: AtomicU32::new(1),
             last_change_tick: 0,
+            scheduler_commands: Default::default(),
         }
     }
 }
diff --git a/examples/README.md b/examples/README.md
index 37b76a3a34830..222073d3644f7 100644
--- a/examples/README.md
+++ b/examples/README.md
@@ -170,6 +170,7 @@ Example | File | Description
 `system_param` | [`ecs/system_param.rs`](./ecs/system_param.rs) | Illustrates creating custom system parameters with `SystemParam`
 `system_sets` | [`ecs/system_sets.rs`](./ecs/system_sets.rs) | Shows `SystemSet` use along with run criterion
 `timers` | [`ecs/timers.rs`](./ecs/timers.rs) | Illustrates ticking `Timer` resources inside systems and handling their state
+`dynamic_schedule` | [`ecs/dynamic_schedule.rs`](./ecs/dynamic_schedule.rs) | Shows how to modify the schedule from systems
 
 ## Games
 
diff --git a/examples/ecs/dynamic_schedule.rs b/examples/ecs/dynamic_schedule.rs
new file mode 100644
index 0000000000000..732cfe853135a
--- /dev/null
+++ b/examples/ecs/dynamic_schedule.rs
@@ -0,0 +1,53 @@
+use bevy::{core::FixedTimestep, prelude::*};
+use rand::Rng;
+
+#[derive(Default)]
+struct BevyMaterial(Option<Handle<ColorMaterial>>);
+
+fn main() {
+    App::build()
+        .add_plugins(DefaultPlugins)
+        .add_stage_after(
+            CoreStage::Update,
+            "slow",
+            SystemStage::parallel().with_run_criteria(FixedTimestep::step(1.0)),
+        )
+        .add_startup_system(setup)
+        .add_system(dynamic.with_run_criteria(FixedTimestep::step(1.0)))
+        .init_resource::<BevyMaterial>()
+        .run();
+}
+
+fn setup(
+    mut commands: Commands,
+    asset_server: Res<AssetServer>,
+    mut materials: ResMut<Assets<ColorMaterial>>,
+    mut bevy_material: ResMut<BevyMaterial>,
+) {
+    commands.spawn_bundle(OrthographicCameraBundle::new_2d());
+
+    let texture_handle = asset_server.load("branding/icon.png");
+    let material = materials.add(texture_handle.into());
+    bevy_material.0 = Some(material);
+}
+
+fn dynamic(mut commands: Commands, mut system_counter: Local<u64>) {
+    let count = *system_counter;
+    *system_counter += 1;
+    let closure = move |mut commands: Commands, bevy_material: Res<BevyMaterial>| {
+        info!("Hello from system {}", count);
+
+        let mut rng = rand::thread_rng();
+
+        commands.spawn_bundle(SpriteBundle {
+            material: bevy_material.0.clone().unwrap(),
+            transform: Transform::from_xyz(
+                rng.gen_range(-400f32..400f32),
+                rng.gen_range(-400f32..400f32),
+                0.0,
+            ),
+            ..Default::default()
+        });
+    };
+    commands.insert_system(closure, "slow");
+}