diff --git a/hbase-procedure/src/main/java/org/apache/hadoop/hbase/procedure2/store/ProcedureStoreTracker.java b/hbase-procedure/src/main/java/org/apache/hadoop/hbase/procedure2/store/ProcedureStoreTracker.java
index 1930f8ac679..25c94272f08 100644
--- a/hbase-procedure/src/main/java/org/apache/hadoop/hbase/procedure2/store/ProcedureStoreTracker.java
+++ b/hbase-procedure/src/main/java/org/apache/hadoop/hbase/procedure2/store/ProcedureStoreTracker.java
@@ -27,7 +27,8 @@ import java.util.function.BiFunction;
 import java.util.stream.LongStream;
 import org.apache.hadoop.hbase.procedure2.Procedure;
 import org.apache.yetus.audience.InterfaceAudience;
-import org.apache.yetus.audience.InterfaceStability;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 
 import org.apache.hadoop.hbase.shaded.protobuf.generated.ProcedureProtos;
 
@@ -38,8 +39,10 @@ import org.apache.hadoop.hbase.shaded.protobuf.generated.ProcedureProtos;
  * deleted/completed to avoid the deserialization step on restart
  */
 @InterfaceAudience.Private
-@InterfaceStability.Evolving
 public class ProcedureStoreTracker {
+
+  private static final Logger LOG = LoggerFactory.getLogger(ProcedureStoreTracker.class);
+
   // Key is procedure id corresponding to first bit of the bitmap.
   private final TreeMap<Long, BitSetNode> map = new TreeMap<>();
 
@@ -153,8 +156,10 @@ public class ProcedureStoreTracker {
 
   private BitSetNode delete(BitSetNode node, long procId) {
     node = lookupClosestNode(node, procId);
-    assert node != null : "expected node to delete procId=" + procId;
-    assert node.contains(procId) : "expected procId=" + procId + " in the node";
+    if (node == null || !node.contains(procId)) {
+      LOG.warn("The BitSetNode for procId={} does not exist, maybe a double deletion?", procId);
+      return node;
+    }
     node.delete(procId);
     if (!keepDeletes && node.isEmpty()) {
       // TODO: RESET if (map.size() == 1)
diff --git a/hbase-procedure/src/test/java/org/apache/hadoop/hbase/procedure2/TestProcedureRollbackAIOOB.java b/hbase-procedure/src/test/java/org/apache/hadoop/hbase/procedure2/TestProcedureRollbackAIOOB.java
new file mode 100644
index 00000000000..fc12924244e
--- /dev/null
+++ b/hbase-procedure/src/test/java/org/apache/hadoop/hbase/procedure2/TestProcedureRollbackAIOOB.java
@@ -0,0 +1,117 @@
+/**
+ * Licensed to the Apache Software Foundation (ASF) under one
+ * or more contributor license agreements.  See the NOTICE file
+ * distributed with this work for additional information
+ * regarding copyright ownership.  The ASF licenses this file
+ * to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance
+ * with the License.  You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+package org.apache.hadoop.hbase.procedure2;
+
+import java.io.IOException;
+import java.util.concurrent.CountDownLatch;
+import org.apache.hadoop.hbase.HBaseClassTestRule;
+import org.apache.hadoop.hbase.HBaseCommonTestingUtility;
+import org.apache.hadoop.hbase.procedure2.ProcedureTestingUtility.NoopProcedure;
+import org.apache.hadoop.hbase.procedure2.store.wal.WALProcedureStore;
+import org.apache.hadoop.hbase.testclassification.MasterTests;
+import org.apache.hadoop.hbase.testclassification.MediumTests;
+import org.junit.After;
+import org.junit.AfterClass;
+import org.junit.Before;
+import org.junit.ClassRule;
+import org.junit.Rule;
+import org.junit.Test;
+import org.junit.experimental.categories.Category;
+import org.junit.rules.TestName;
+
+/**
+ * Testcase for HBASE-20973
+ */
+@Category({ MasterTests.class, MediumTests.class })
+public class TestProcedureRollbackAIOOB {
+  @ClassRule
+  public static final HBaseClassTestRule CLASS_RULE =
+      HBaseClassTestRule.forClass(TestProcedureRollbackAIOOB.class);
+
+  private static final HBaseCommonTestingUtility UTIL = new HBaseCommonTestingUtility();
+
+  public static final class ParentProcedure extends NoopProcedure<Void> {
+
+    private final CountDownLatch latch = new CountDownLatch(1);
+
+    private boolean scheduled;
+
+    @Override
+    protected Procedure<Void>[] execute(Void env)
+        throws ProcedureYieldException, ProcedureSuspendedException, InterruptedException {
+      latch.await();
+      if (scheduled) {
+        return null;
+      }
+      scheduled = true;
+      return new Procedure[] { new SubProcedure() };
+    }
+  }
+
+  public static final class SubProcedure extends NoopProcedure<Void> {
+
+    @Override
+    protected Procedure[] execute(Void env)
+        throws ProcedureYieldException, ProcedureSuspendedException, InterruptedException {
+      setFailure("Inject error", new RuntimeException("Inject error"));
+      return null;
+    }
+  }
+
+  private WALProcedureStore procStore;
+
+  private ProcedureExecutor<Void> procExec;
+
+  @Rule
+  public final TestName name = new TestName();
+
+  @Before
+  public void setUp() throws IOException {
+    procStore = ProcedureTestingUtility.createWalStore(UTIL.getConfiguration(),
+      UTIL.getDataTestDir(name.getMethodName()));
+    procStore.start(2);
+    procExec = new ProcedureExecutor<Void>(UTIL.getConfiguration(), null, procStore);
+    ProcedureTestingUtility.initAndStartWorkers(procExec, 2, true);
+  }
+
+  @After
+  public void tearDown() {
+    procExec.stop();
+    procStore.stop(false);
+  }
+
+  @AfterClass
+  public static void tearDownAfterClass() throws IOException {
+    UTIL.cleanupTestDir();
+  }
+
+  @Test
+  public void testArrayIndexOutOfBounds() {
+    ParentProcedure proc = new ParentProcedure();
+    long procId = procExec.submitProcedure(proc);
+    long noopProcId = -1L;
+    // make sure that the sub procedure will have a new BitSetNode
+    for (int i = 0; i < Long.SIZE - 2; i++) {
+      noopProcId = procExec.submitProcedure(new NoopProcedure<>());
+    }
+    final long lastNoopProcId = noopProcId;
+    UTIL.waitFor(30000, () -> procExec.isFinished(lastNoopProcId));
+    proc.latch.countDown();
+    UTIL.waitFor(10000, () -> procExec.isFinished(procId));
+  }
+}