diff --git a/homeassistant/components/script/__init__.py b/homeassistant/components/script/__init__.py
index f83aed68590..65cea1e2e4c 100644
--- a/homeassistant/components/script/__init__.py
+++ b/homeassistant/components/script/__init__.py
@@ -609,6 +609,15 @@ class ScriptEntity(BaseScriptEntity, RestoreEntity):
         )
         coro = self._async_run(variables, context)
         if wait:
+            # If we are executing in parallel, we need to copy the script stack so
+            # that if this script is called in parallel, it will not be seen in the
+            # stack of the other parallel calls and hit the disallowed recursion
+            # check as each parallel call would otherwise be appending to the same
+            # stack. We do not wipe the stack in this case because we still want to
+            # be able to detect if there is a disallowed recursion.
+            if script_stack := script_stack_cv.get():
+                script_stack_cv.set(script_stack.copy())
+
             script_result = await coro
             return script_result.service_response if script_result else None
 
diff --git a/tests/components/script/test_init.py b/tests/components/script/test_init.py
index 790ef7e79bc..ca1d8006637 100644
--- a/tests/components/script/test_init.py
+++ b/tests/components/script/test_init.py
@@ -1741,3 +1741,46 @@ async def test_responses_no_response(hass: HomeAssistant) -> None:
         )
         is None
     )
+
+
+async def test_script_queued_mode(hass: HomeAssistant) -> None:
+    """Test calling a queued mode script called in parallel."""
+    calls = 0
+
+    async def async_service_handler(*args, **kwargs) -> None:
+        """Service that simulates doing background I/O."""
+        nonlocal calls
+        calls += 1
+        await asyncio.sleep(0)
+
+    hass.services.async_register("test", "simulated_remote", async_service_handler)
+    assert await async_setup_component(
+        hass,
+        script.DOMAIN,
+        {
+            script.DOMAIN: {
+                "test_main": {
+                    "sequence": [
+                        {
+                            "parallel": [
+                                {"service": "script.test_sub"},
+                                {"service": "script.test_sub"},
+                                {"service": "script.test_sub"},
+                                {"service": "script.test_sub"},
+                            ]
+                        }
+                    ]
+                },
+                "test_sub": {
+                    "mode": "queued",
+                    "sequence": [
+                        {"service": "test.simulated_remote"},
+                    ],
+                },
+            }
+        },
+    )
+    await hass.async_block_till_done()
+
+    await hass.services.async_call("script", "test_main", blocking=True)
+    assert calls == 4