diff --git a/Cargo.toml b/Cargo.toml
index 898ab0bbc3b8fd..8a3b9cf2b85e18 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -255,6 +255,10 @@ path = "examples/ecs/ecs_guide.rs"
 name = "change_detection"
 path = "examples/ecs/change_detection.rs"
 
+[[example]]
+name = "command_error_handling"
+path = "examples/ecs/command_error_handling.rs"
+
 [[example]]
 name = "event"
 path = "examples/ecs/event.rs"
diff --git a/crates/bevy_ecs/src/lib.rs b/crates/bevy_ecs/src/lib.rs
index cdb3432494d674..61efd110355492 100644
--- a/crates/bevy_ecs/src/lib.rs
+++ b/crates/bevy_ecs/src/lib.rs
@@ -27,8 +27,9 @@ pub mod prelude {
             Schedule, Stage, StageLabel, State, SystemLabel, SystemSet, SystemStage,
         },
         system::{
-            Commands, In, IntoChainSystem, IntoExclusiveSystem, IntoSystem, Local, NonSend,
-            NonSendMut, Query, QuerySet, RemovedComponents, Res, ResMut, System,
+            CommandError, Commands, FallibleCommand, In, IntoChainSystem, IntoExclusiveSystem,
+            IntoSystem, Local, NonSend, NonSendMut, Query, QuerySet, RemovedComponents, Res,
+            ResMut, System,
         },
         world::{FromWorld, Mut, World},
     };
diff --git a/crates/bevy_ecs/src/system/commands/mod.rs b/crates/bevy_ecs/src/system/commands/mod.rs
index 89c23a13f496fc..f6cc8df5e21b6b 100644
--- a/crates/bevy_ecs/src/system/commands/mod.rs
+++ b/crates/bevy_ecs/src/system/commands/mod.rs
@@ -9,8 +9,8 @@ use crate::{
 };
 use std::{fmt::Debug, marker::PhantomData};
 
-pub use config::{FallibleCommandConfig, FinalFallibleCommandConfig};
-pub use fallible::{CommandError, FallibleCommand};
+pub use config::*;
+pub use fallible::*;
 
 /// A [`World`] mutation.
 /// If this could potentially fail, use [`FallibleCommand`].
diff --git a/examples/README.md b/examples/README.md
index 13b791835ba65f..6dc4a75fc37812 100644
--- a/examples/README.md
+++ b/examples/README.md
@@ -150,6 +150,7 @@ Example | File | Description
 --- | --- | ---
 `ecs_guide` | [`ecs/ecs_guide.rs`](./ecs/ecs_guide.rs) | Full guide to Bevy's ECS
 `change_detection` | [`ecs/change_detection.rs`](./ecs/change_detection.rs) | Change detection on components
+`command_error_handling` | [`ecs/command_error_handling.rs](./ecs/command_error_handling.rs) | Error handling fallible commands
 `event` | [`ecs/event.rs`](./ecs/event.rs) | Illustrates event creation, activation, and reception
 `fixed_timestep` | [`ecs/fixed_timestep.rs`](./ecs/fixed_timestep.rs) | Shows how to create systems that run every fixed timestep, rather than every tick
 `hierarchy` | [`ecs/hierarchy.rs`](./ecs/hierarchy.rs) | Creates a hierarchy of parents and children entities
diff --git a/examples/ecs/command_error_handling.rs b/examples/ecs/command_error_handling.rs
new file mode 100644
index 00000000000000..1d04f55f42aa35
--- /dev/null
+++ b/examples/ecs/command_error_handling.rs
@@ -0,0 +1,51 @@
+use bevy::prelude::*;
+
+fn main() {
+    App::build()
+        .add_startup_system(handle_command_error.system())
+        .run();
+}
+
+#[derive(Debug)]
+struct AComponent(usize);
+
+fn handle_command_error(mut commands: Commands) {
+    let e = commands.spawn().id();
+
+    // Immediately despawn the entity.
+    commands.entity(e).despawn();
+
+    // This `despawn` command will fail because the entity was already despawned!
+    // If no error handler is specified, the error will be logged.
+    commands.entity(e).despawn();
+
+    // Optionally, `on_failure` allows you to provide a custom error handler!
+    commands
+        .entity(e)
+        .insert(AComponent(0))
+        .on_failure(|CommandError { error, world, .. }| {
+            // You'll notice that the `error` will also give you back the component you
+            // attempted to insert on the entity.
+
+            println!(
+                "Sadly our component '{:?}' for entity '{:?}' didn't insert... :(",
+                error.component, error.entity
+            );
+
+            // error handlers have mutable access to `World`
+            world.insert_resource("🐦");
+        });
+
+    // Some nice things:
+    // - You can still chain commands!
+    // - There are a slew of built-in error handlers
+    commands
+        .entity(e)
+        .insert(AComponent(1))
+        .ignore() // `ignore` will neither log nor panic the error
+        .insert(AComponent(2))
+        .log_on_failure(); // `log_on_failure` is the default behavior, and will log the error
+
+    // Uncomment the below line to see the command error cause a panic due to `panic_on_failure`
+    // commands.entity(e).despawn().panic_on_failure();
+}