diff --git a/src/cdk/stepper/stepper.ts b/src/cdk/stepper/stepper.ts
index 6d17ba3e120c..a2e765f12502 100644
--- a/src/cdk/stepper/stepper.ts
+++ b/src/cdk/stepper/stepper.ts
@@ -284,20 +284,21 @@ export class CdkStepper implements AfterContentInit, AfterViewInit, OnDestroy {
     return this._selectedIndex;
   }
   set selectedIndex(index: number) {
-    if (this.steps && this._steps) {
+    if (this._steps) {
       // Ensure that the index can't be out of bounds.
       if (!this._isValidIndex(index) && (typeof ngDevMode === 'undefined' || ngDevMode)) {
         throw Error('cdkStepper: Cannot assign out-of-bounds value to `selectedIndex`.');
       }
 
-      this.selected?._markAsInteracted();
+      if (this._selectedIndex !== index) {
+        this.selected?._markAsInteracted();
 
-      if (
-        this._selectedIndex !== index &&
-        !this._anyControlsInvalidOrPending(index) &&
-        (index >= this._selectedIndex || this.steps.toArray()[index].editable)
-      ) {
-        this._updateSelectedItemIndex(index);
+        if (
+          !this._anyControlsInvalidOrPending(index) &&
+          (index >= this._selectedIndex || this.steps.toArray()[index].editable)
+        ) {
+          this._updateSelectedItemIndex(index);
+        }
       }
     } else {
       this._selectedIndex = index;
diff --git a/src/material/stepper/stepper.spec.ts b/src/material/stepper/stepper.spec.ts
index 2a09bff71419..cb4059ae8bec 100644
--- a/src/material/stepper/stepper.spec.ts
+++ b/src/material/stepper/stepper.spec.ts
@@ -1213,7 +1213,7 @@ describe('MatStepper', () => {
       fixture.detectChanges();
       expect(stepper.steps.map(step => step.interacted)).toEqual([true, true, false]);
 
-      stepper.next();
+      stepper.previous();
       fixture.detectChanges();
       expect(stepper.steps.map(step => step.interacted)).toEqual([true, true, true]);
     });
@@ -1240,12 +1240,36 @@ describe('MatStepper', () => {
       fixture.detectChanges();
       expect(interactedSteps).toEqual([0, 1]);
 
-      stepper.next();
+      stepper.previous();
       fixture.detectChanges();
       expect(interactedSteps).toEqual([0, 1, 2]);
       subscription.unsubscribe();
     });
 
+    it('should not emit interacted event if selectedIndex does not change', () => {
+      const fixture = createComponent(SimpleMatHorizontalStepperApp);
+      fixture.detectChanges();
+
+      const stepper: MatStepper = fixture.debugElement.query(
+        By.directive(MatStepper),
+      ).componentInstance;
+      const interactedSteps: number[] = [];
+      const subscription = merge(...stepper.steps.map(step => step.interactedStream)).subscribe(
+        step => interactedSteps.push(stepper.steps.toArray().indexOf(step as MatStep)),
+      );
+
+      expect(interactedSteps).toEqual([]);
+
+      stepper.next();
+      fixture.detectChanges();
+      expect(interactedSteps).toEqual([0]);
+
+      stepper.selectedIndex = 1;
+      fixture.detectChanges();
+      expect(interactedSteps).toEqual([0]);
+      subscription.unsubscribe();
+    });
+
     it('should set a class on the host if the header is positioned at the bottom', () => {
       const fixture = createComponent(SimpleMatHorizontalStepperApp);
       fixture.detectChanges();