diff --git a/pcbnew/router/pns_router.cpp b/pcbnew/router/pns_router.cpp
index 1e761f60a2..5ba35573b9 100644
--- a/pcbnew/router/pns_router.cpp
+++ b/pcbnew/router/pns_router.cpp
@@ -542,6 +542,38 @@ bool ROUTER::Finish()
 }
 
 
+bool ROUTER::ContinueFromEnd()
+{
+    LINE_PLACER* placer = dynamic_cast<LINE_PLACER*>( Placer() );
+
+    if( placer == nullptr )
+        return false;
+
+    LINE        current = placer->Trace();
+    int         currentLayer = GetCurrentLayer();
+    VECTOR2I    currentEnd = placer->CurrentEnd();
+    VECTOR2I    otherEnd;
+    LAYER_RANGE otherEndLayers;
+
+    // Get the anchor nearest to the end of the trace the user is routing
+    if( !getNearestRatnestAnchor( otherEnd, otherEndLayers ) )
+        return false;
+
+    CommitRouting();
+
+    // Commit whatever we've fixed and restart routing from the other end
+    int nextLayer = otherEndLayers.Overlaps( currentLayer ) ? currentLayer : otherEndLayers.Start();
+
+    if( !StartRouting( otherEnd, &current, nextLayer ) )
+        return false;
+
+    // Attempt to route to our current position
+    Move( currentEnd, &current );
+
+    return true;
+}
+
+
 bool ROUTER::moveDragging( const VECTOR2I& aP, ITEM* aEndItem )
 {
     m_iface->EraseView();
diff --git a/pcbnew/router/pns_router.h b/pcbnew/router/pns_router.h
index 193fc9a492..62fdd593f4 100644
--- a/pcbnew/router/pns_router.h
+++ b/pcbnew/router/pns_router.h
@@ -144,6 +144,7 @@ public:
     bool StartRouting( const VECTOR2I& aP, ITEM* aItem, int aLayer );
     bool Move( const VECTOR2I& aP, ITEM* aItem );
     bool Finish();
+    bool ContinueFromEnd();
     bool FixRoute( const VECTOR2I& aP, ITEM* aItem, bool aForceFinish = false );
     void BreakSegment( ITEM *aItem, const VECTOR2I& aP );
 
diff --git a/pcbnew/router/router_tool.cpp b/pcbnew/router/router_tool.cpp
index c1eb9e8f3e..180f5b5d64 100644
--- a/pcbnew/router/router_tool.cpp
+++ b/pcbnew/router/router_tool.cpp
@@ -1293,50 +1293,18 @@ void ROUTER_TOOL::performRouting()
         }
         else if( evt->IsAction( &PCB_ACTIONS::routerContinueFromEnd ) )
         {
-            PNS::LINE_PLACER* placer = dynamic_cast<PNS::LINE_PLACER*>( m_router->Placer() );
+            bool needsAppend = m_router->Placer()->HasPlacedAnything();
 
-            if( placer == nullptr )
-                break;
-
-            // Get our current line and position and nearest ratsnest to them if it exists
-            PNS::LINE   current = placer->Trace();
-            VECTOR2I    currentEnd = placer->CurrentEnd();
-            VECTOR2I    otherEnd;
-            LAYER_RANGE otherEndLayers;
-
-            if( !getNearestRatnestAnchor( otherEnd, otherEndLayers ) )
-                break;
-
-            if( evt->IsAction( &PCB_ACTIONS::routerContinueFromEnd ) )
+            if( m_router->ContinueFromEnd() )
             {
-                // Commit routing will put the router on no layer, so save it
-                int currentLayer = m_router->GetCurrentLayer();
-
-                // Commit whatever we've fixed and restart routing from the other end
-                if( m_router->Placer()->HasPlacedAnything() )
-                {
-                    m_router->CommitRouting();
-                    m_iface->SetCommitFlags( APPEND_UNDO );
-                }
-                else
-                    m_router->StopRouting();
-
-                if( otherEndLayers.Overlaps( currentLayer ) )
-                    m_router->StartRouting( otherEnd, &current, currentLayer );
-                else
-                {
-                    m_router->StartRouting( otherEnd, &current, otherEndLayers.Start() );
-                    syncRouterAndFrameLayer();
-                }
-
-                m_startSnapPoint = otherEnd;
-
-                // Attempt to route to our current position
-                m_router->Move( currentEnd, &current );
-                VECTOR2I moveResultPoint = m_router->Placer()->CurrentEnd();
+                syncRouterAndFrameLayer();
+                m_startSnapPoint = m_router->Placer()->CurrentStart();
 
                 // Warp the mouse to wherever we actually ended up routing to
-                controls()->WarpMouseCursor( currentEnd, true, true );
+                controls()->WarpMouseCursor( m_router->Placer()->CurrentEnd(), true, true );
+
+                // We want the next router commit to be one undo at the UI layer
+                m_iface->SetCommitFlags( needsAppend ? APPEND_UNDO : 0 );
             }
         }
         else if( evt->IsClick( BUT_LEFT ) || evt->IsDrag( BUT_LEFT ) || evt->IsAction( &PCB_ACTIONS::routeSingleTrack ) )