diff --git a/crates/bevy_ecs/src/system/commands/mod.rs b/crates/bevy_ecs/src/system/commands/mod.rs
index 512dadff88017..bf9945c347e23 100644
--- a/crates/bevy_ecs/src/system/commands/mod.rs
+++ b/crates/bevy_ecs/src/system/commands/mod.rs
@@ -680,6 +680,8 @@ impl<'w, 's, 'a> EntityCommands<'w, 's, 'a> {
     ///
     /// The command will panic when applied if the associated entity does not exist.
     ///
+    /// To avoid a panic in this case, use the command [`Self::try_insert`] instead.
+    ///
     /// # Example
     ///
     /// ```
@@ -729,6 +731,62 @@ impl<'w, 's, 'a> EntityCommands<'w, 's, 'a> {
         self
     }
 
+    /// Tries to add a [`Bundle`] of components to the entity.
+    ///
+    /// This will overwrite any previous value(s) of the same component type.
+    ///
+    /// # Note
+    ///
+    /// Unlike [`Self::insert`], this will not panic if the associated entity does not exist.
+    ///
+    /// # Example
+    ///
+    /// ```
+    /// # use bevy_ecs::prelude::*;
+    /// # #[derive(Resource)]
+    /// # struct PlayerEntity { entity: Entity }
+    /// #[derive(Component)]
+    /// struct Health(u32);
+    /// #[derive(Component)]
+    /// struct Strength(u32);
+    /// #[derive(Component)]
+    /// struct Defense(u32);
+    ///
+    /// #[derive(Bundle)]
+    /// struct CombatBundle {
+    ///     health: Health,
+    ///     strength: Strength,
+    /// }
+    ///
+    /// fn add_combat_stats_system(mut commands: Commands, player: Res<PlayerEntity>) {
+    ///   commands.entity(player.entity)
+    ///    // You can try_insert individual components:
+    ///     .try_insert(Defense(10))
+    ///     
+    ///    // You can also insert tuples of components:
+    ///     .try_insert(CombatBundle {
+    ///         health: Health(100),
+    ///         strength: Strength(40),
+    ///     });
+    ///    
+    ///    // Suppose this occurs in a parallel adjacent system or process
+    ///    commands.entity(player.entity)
+    ///      .despawn();
+    ///
+    ///    commands.entity(player.entity)
+    ///    // This will not panic nor will it add the component
+    ///      .try_insert(Defense(5));
+    /// }
+    /// # bevy_ecs::system::assert_is_system(add_combat_stats_system);
+    /// ```
+    pub fn try_insert(&mut self, bundle: impl Bundle) -> &mut Self {
+        self.commands.add(TryInsert {
+            entity: self.entity,
+            bundle,
+        });
+        self
+    }
+
     /// Removes a [`Bundle`] of components from the entity.
     ///
     /// See [`EntityWorldMut::remove`](crate::world::EntityWorldMut::remove) for more
@@ -966,6 +1024,25 @@ where
     }
 }
 
+/// A [`Command`] that attempts to add the components in a [`Bundle`] to an entity.
+pub struct TryInsert<T> {
+    /// The entity to which the components will be added.
+    pub entity: Entity,
+    /// The [`Bundle`] containing the components that will be added to the entity.
+    pub bundle: T,
+}
+
+impl<T> Command for TryInsert<T>
+where
+    T: Bundle + 'static,
+{
+    fn apply(self, world: &mut World) {
+        if let Some(mut entity) = world.get_entity_mut(self.entity) {
+            entity.insert(self.bundle);
+        }
+    }
+}
+
 /// A [`Command`] that removes components from an entity.
 /// For a [`Bundle`] type `T`, this will remove any components in the bundle.
 /// Any components in the bundle that aren't found on the entity will be ignored.