diff --git a/command.go b/command.go
index 4cd907a558..922fe9ee3b 100644
--- a/command.go
+++ b/command.go
@@ -582,6 +582,18 @@ func (cmd *Command) Path() []string {
 	return []string{cmd.Name}
 }
 
+// HasHiddenParent returns true if any ancestor of this command has
+// Hidden set to true.
+func (cmd *Command) HasHiddenParent() bool {
+	if cmd.parent == nil {
+		return false
+	}
+	if cmd.parent.Hidden {
+		return true
+	}
+	return cmd.parent.HasHiddenParent()
+}
+
 // Walk visits cmd and every descendant. If fn returns a non-nil error, the
 // walk terminates and the error is returned to the caller.
 func (cmd *Command) Walk(fn func(*Command) error) error {
diff --git a/command_test.go b/command_test.go
index cad70b7801..63333df5d3 100644
--- a/command_test.go
+++ b/command_test.go
@@ -6450,3 +6450,56 @@ func TestCommand_Walk_NilFn(t *testing.T) {
 	cmd := &Command{Name: "foo"}
 	assert.Nil(t, cmd.Walk(nil))
 }
+
+func TestCommand_HasHiddenParent(t *testing.T) {
+	t.Run("root command", func(t *testing.T) {
+		cmd := &Command{Name: "root"}
+		assert.False(t, cmd.HasHiddenParent())
+	})
+
+	t.Run("direct hidden parent", func(t *testing.T) {
+		parent := &Command{Name: "parent", Hidden: true}
+		child := &Command{Name: "child"}
+		child.parent = parent
+		assert.True(t, child.HasHiddenParent())
+	})
+
+	t.Run("non-hidden parent", func(t *testing.T) {
+		parent := &Command{Name: "parent"}
+		child := &Command{Name: "child"}
+		child.parent = parent
+		assert.False(t, child.HasHiddenParent())
+	})
+
+	t.Run("grandparent is hidden", func(t *testing.T) {
+		grandparent := &Command{Name: "grandparent", Hidden: true}
+		parent := &Command{Name: "parent"}
+		child := &Command{Name: "child"}
+		parent.parent = grandparent
+		child.parent = parent
+		assert.True(t, child.HasHiddenParent())
+	})
+
+	t.Run("subcommands of hidden command are skipped in walk", func(t *testing.T) {
+		hiddenCmd := &Command{Name: "completion", Hidden: true}
+		subCmd := &Command{Name: "bash"}
+		subCmd.parent = hiddenCmd
+		hiddenCmd.Commands = []*Command{subCmd}
+
+		root := &Command{
+			Name:     "root",
+			Commands: []*Command{hiddenCmd},
+		}
+
+		var visited []string
+		err := root.Walk(func(c *Command) error {
+			if c.Hidden || c.HasHiddenParent() {
+				return nil
+			}
+			visited = append(visited, c.Name)
+			return nil
+		})
+		require.NoError(t, err)
+		assert.Equal(t, []string{"root"}, visited)
+	})
+}
diff --git a/godoc-current.txt b/godoc-current.txt
index d680c5f544..1a0c96700b 100644
--- a/godoc-current.txt
+++ b/godoc-current.txt
@@ -618,6 +618,10 @@ func (cmd *Command) FullName() string
 func (cmd *Command) Generic(name string) Value
     Generic looks up the value of a local GenericFlag, returns nil if not found
 
+func (cmd *Command) HasHiddenParent() bool
+    HasHiddenParent returns true if any ancestor of this command has Hidden set
+    to true.
+
 func (cmd *Command) HasName(name string) bool
     HasName returns true if Command.Name matches given name
 
diff --git a/testdata/godoc-v3.x.txt b/testdata/godoc-v3.x.txt
index d680c5f544..1a0c96700b 100644
--- a/testdata/godoc-v3.x.txt
+++ b/testdata/godoc-v3.x.txt
@@ -618,6 +618,10 @@ func (cmd *Command) FullName() string
 func (cmd *Command) Generic(name string) Value
     Generic looks up the value of a local GenericFlag, returns nil if not found
 
+func (cmd *Command) HasHiddenParent() bool
+    HasHiddenParent returns true if any ancestor of this command has Hidden set
+    to true.
+
 func (cmd *Command) HasName(name string) bool
     HasName returns true if Command.Name matches given name