diff --git a/packages/presentation/presentation_containers/interfaces/panel_management.ts b/packages/presentation/presentation_containers/interfaces/panel_management.ts
index 1d18f43bc444..834c0871ca58 100644
--- a/packages/presentation/presentation_containers/interfaces/panel_management.ts
+++ b/packages/presentation/presentation_containers/interfaces/panel_management.ts
@@ -19,7 +19,7 @@ export const apiCanDuplicatePanels = (
 };
 
 export interface CanExpandPanels {
-  expandPanel: (panelId?: string) => void;
+  expandPanel: (panelId: string) => void;
   expandedPanelId: PublishingSubject<string | undefined>;
 }
 
diff --git a/src/plugins/dashboard/public/dashboard_actions/expand_panel_action.tsx b/src/plugins/dashboard/public/dashboard_actions/expand_panel_action.tsx
index dd43e5967d6c..adc0c8389e2c 100644
--- a/src/plugins/dashboard/public/dashboard_actions/expand_panel_action.tsx
+++ b/src/plugins/dashboard/public/dashboard_actions/expand_panel_action.tsx
@@ -50,8 +50,6 @@ export class ExpandPanelAction implements Action<EmbeddableApiContext> {
 
   public async execute({ embeddable }: EmbeddableApiContext) {
     if (!isApiCompatible(embeddable)) throw new IncompatibleActionError();
-    embeddable.parentApi.expandPanel(
-      embeddable.parentApi.expandedPanelId.value ? undefined : embeddable.uuid
-    );
+    embeddable.parentApi.expandPanel(embeddable.uuid);
   }
 }
diff --git a/src/plugins/dashboard/public/dashboard_container/component/grid/_dashboard_grid.scss b/src/plugins/dashboard/public/dashboard_container/component/grid/_dashboard_grid.scss
index b33e35647e21..f6e7918fb1b0 100644
--- a/src/plugins/dashboard/public/dashboard_container/component/grid/_dashboard_grid.scss
+++ b/src/plugins/dashboard/public/dashboard_container/component/grid/_dashboard_grid.scss
@@ -40,7 +40,6 @@
  * Shifting the rendered panels offscreen prevents a quick flash when redrawing the panels on minimize
  */
 .dshDashboardGrid__item--hidden {
-  position: absolute;
   top: -9999px;
   left: -9999px;
 }
diff --git a/src/plugins/dashboard/public/dashboard_container/component/grid/dashboard_grid_item.tsx b/src/plugins/dashboard/public/dashboard_container/component/grid/dashboard_grid_item.tsx
index 7d4a87f7209e..d4fd84618747 100644
--- a/src/plugins/dashboard/public/dashboard_container/component/grid/dashboard_grid_item.tsx
+++ b/src/plugins/dashboard/public/dashboard_container/component/grid/dashboard_grid_item.tsx
@@ -64,14 +64,15 @@ export const Item = React.forwardRef<HTMLDivElement, Props>(
 
     useLayoutEffect(() => {
       if (typeof ref !== 'function' && ref?.current) {
+        const panelRef = ref.current;
         if (scrollToPanelId === id) {
-          container.scrollToPanel(ref.current);
+          container.scrollToPanel(panelRef);
         }
         if (highlightPanelId === id) {
-          container.highlightPanel(ref.current);
+          container.highlightPanel(panelRef);
         }
 
-        ref.current.querySelectorAll('*').forEach((e) => {
+        panelRef.querySelectorAll('*').forEach((e) => {
           if (blurPanel) {
             // remove blurred panels and nested elements from tab order
             e.setAttribute('tabindex', '-1');
diff --git a/src/plugins/dashboard/public/dashboard_container/embeddable/dashboard_container.tsx b/src/plugins/dashboard/public/dashboard_container/embeddable/dashboard_container.tsx
index 1bfa289a5e91..45f3b2535ff6 100644
--- a/src/plugins/dashboard/public/dashboard_container/embeddable/dashboard_container.tsx
+++ b/src/plugins/dashboard/public/dashboard_container/embeddable/dashboard_container.tsx
@@ -170,6 +170,7 @@ export class DashboardContainer
   public creationEndTime?: number;
   public firstLoad: boolean = true;
   private hadContentfulRender = false;
+  private scrollPosition?: number;
 
   // cleanup
   public stopSyncingWithUnifiedSearch?: () => void;
@@ -585,11 +586,18 @@ export class DashboardContainer
     return panel;
   };
 
-  public expandPanel = (panelId?: string) => {
-    this.setExpandedPanelId(panelId);
+  public expandPanel = (panelId: string) => {
+    const isPanelExpanded = Boolean(this.getExpandedPanelId());
 
-    if (!panelId) {
+    if (isPanelExpanded) {
+      this.setExpandedPanelId(undefined);
       this.setScrollToPanelId(panelId);
+      return;
+    }
+
+    this.setExpandedPanelId(panelId);
+    if (window.scrollY > 0) {
+      this.scrollPosition = window.scrollY;
     }
   };
 
@@ -765,6 +773,17 @@ export class DashboardContainer
 
     this.untilEmbeddableLoaded(id).then(() => {
       this.setScrollToPanelId(undefined);
+      if (this.scrollPosition) {
+        panelRef.ontransitionend = () => {
+          // Scroll to the last scroll position after the transition ends to ensure the panel is back in the right position before scrolling
+          // This is necessary because when an expanded panel collapses, it takes some time for the panel to return to its original position
+          window.scrollTo({ top: this.scrollPosition });
+          this.scrollPosition = undefined;
+          panelRef.ontransitionend = null;
+        };
+        return;
+      }
+
       panelRef.scrollIntoView({ block: 'center' });
     });
   };