diff --git a/errors.go b/errors.go
index a00924b5..d9a6ee76 100644
--- a/errors.go
+++ b/errors.go
@@ -116,6 +116,7 @@ func wrapDecodeError(document []byte, de *decodeError) *DecodeError {
 	maxLine := errLine + len(after) - 1
 	lineColumnWidth := len(strconv.Itoa(maxLine))
 
+	// Write the lines of context strictly before the error.
 	for i := len(before) - 1; i > 0; i-- {
 		line := errLine - i
 		buf.WriteString(formatLineNumber(line, lineColumnWidth))
@@ -129,6 +130,8 @@ func wrapDecodeError(document []byte, de *decodeError) *DecodeError {
 		buf.WriteRune('\n')
 	}
 
+	// Write the document line that contains the error.
+
 	buf.WriteString(formatLineNumber(errLine, lineColumnWidth))
 	buf.WriteString("| ")
 
@@ -143,6 +146,10 @@ func wrapDecodeError(document []byte, de *decodeError) *DecodeError {
 	}
 
 	buf.WriteRune('\n')
+
+	// Write the line with the error message itself (so it does not have a line
+	// number).
+
 	buf.WriteString(strings.Repeat(" ", lineColumnWidth))
 	buf.WriteString("| ")
 
@@ -157,6 +164,8 @@ func wrapDecodeError(document []byte, de *decodeError) *DecodeError {
 		buf.WriteString(errMessage)
 	}
 
+	// Write the lines of context strictly after the error.
+
 	for i := 1; i < len(after); i++ {
 		buf.WriteRune('\n')
 		line := errLine + i
@@ -230,7 +239,7 @@ forward:
 			rest = rest[o+1:]
 			o = 0
 
-		case o == len(rest)-1 && o > 0:
+		case o == len(rest)-1:
 			// add last line only if it's non-empty
 			afterLines = append(afterLines, rest)
 
diff --git a/errors_test.go b/errors_test.go
index d0986478..1c02595f 100644
--- a/errors_test.go
+++ b/errors_test.go
@@ -148,6 +148,13 @@ line 5`,
 6|
 7| line 4`,
 		},
+		{
+			desc: "handle remainder of the error line when there is only one line",
+			doc:  [3]string{`P=`, `[`, `#`},
+			msg:  "array is incomplete",
+			expected: `1| P=[#
+ |   ~ array is incomplete`,
+		},
 	}
 
 	for _, e := range examples {
diff --git a/parser.go b/parser.go
index 1781cc94..a53c2b7b 100644
--- a/parser.go
+++ b/parser.go
@@ -397,6 +397,7 @@ func (p *parser) parseValArray(b []byte) (ast.Reference, []byte, error) {
 	// array-values =/ ws-comment-newline val ws-comment-newline [ array-sep ]
 	// array-sep = %x2C  ; , Comma
 	// ws-comment-newline = *( wschar / [ comment ] newline )
+	arrayStart := b
 	b = b[1:]
 
 	parent := p.builder.Push(ast.Node{
@@ -415,7 +416,7 @@ func (p *parser) parseValArray(b []byte) (ast.Reference, []byte, error) {
 		}
 
 		if len(b) == 0 {
-			return parent, nil, newDecodeError(b, "array is incomplete")
+			return parent, nil, newDecodeError(arrayStart[:1], "array is incomplete")
 		}
 
 		if b[0] == ']' {
diff --git a/unmarshaler_test.go b/unmarshaler_test.go
index 008dfda3..25484c2c 100644
--- a/unmarshaler_test.go
+++ b/unmarshaler_test.go
@@ -1728,6 +1728,12 @@ func TestIssue579(t *testing.T) {
 	require.Error(t, err)
 }
 
+func TestIssue581(t *testing.T) {
+	var v interface{}
+	err := toml.Unmarshal([]byte(`P=[#`), &v)
+	require.Error(t, err)
+}
+
 //nolint:funlen
 func TestUnmarshalDecodeErrors(t *testing.T) {
 	examples := []struct {