diff --git a/res/values/strings.xml b/res/values/strings.xml
index f837d6bcc6d..d4a2ee59a9a 100644
--- a/res/values/strings.xml
+++ b/res/values/strings.xml
@@ -5403,8 +5403,8 @@
     <string name="accessibility_button_intro">Using the accessibility button. The gesture isn\u2019t available with 3-button navigation.</string>
     <!-- Summary text for the accessibility button preference. [CHAR LIMIT=50] -->
     <string name="accessibility_button_summary">Quickly access accessibility features</string>
-    <!-- Description for the accessibility button & gesture page. Explain how this page works. [CHAR LIMIT=NONE] -->
-    <string name="accessibility_button_gesture_description">Quickly access accessibility features from any screen. \n\nTo get started, go to accessibility settings and select a feature. Tap on the shortcut and select the accessibility button or gesture.</string>
+    <!-- Description for the accessibility button in gesture navigation. Explain how this page works. [CHAR LIMIT=NONE] -->
+    <string name="accessibility_button_gesture_description">Quickly access accessibility features from any screen.\n\nTo get started, go to accessibility settings and select a feature. Tap on the shortcut and select the accessibility button.\n\nTo use the accessibility button in the navigation bar instead, switch to 2-button navigation or 3-button navigation.</string>
     <!-- Description for the accessibility button page. Explain how this page works. [CHAR LIMIT=NONE] -->
     <string name="accessibility_button_description">Quickly access accessibility features from any screen. \n\nTo get started, go to accessibility settings and select a feature. Tap on the shortcut and select the accessibility button.</string>
     <!-- Title for the button or gesture of the accessibility button. [CHAR LIMIT=35] -->
diff --git a/res/xml/accessibility_button_settings.xml b/res/xml/accessibility_button_settings.xml
index 02b1c7d4693..78d13ab1a8d 100644
--- a/res/xml/accessibility_button_settings.xml
+++ b/res/xml/accessibility_button_settings.xml
@@ -61,7 +61,6 @@
 
     <com.android.settings.accessibility.AccessibilityFooterPreference
         android:key="accessibility_button_footer"
-        android:title="@string/accessibility_button_description"
         android:persistent="false"
         android:selectable="false"
         settings:searchable="false"
diff --git a/src/com/android/settings/accessibility/AccessibilityButtonFooterPreferenceController.java b/src/com/android/settings/accessibility/AccessibilityButtonFooterPreferenceController.java
index 744a29211cf..8b4a364a393 100644
--- a/src/com/android/settings/accessibility/AccessibilityButtonFooterPreferenceController.java
+++ b/src/com/android/settings/accessibility/AccessibilityButtonFooterPreferenceController.java
@@ -34,4 +34,11 @@ public class AccessibilityButtonFooterPreferenceController extends
     protected String getLabelName() {
         return mContext.getString(R.string.accessibility_button_title);
     }
+
+    @Override
+    public CharSequence getSummary() {
+        return AccessibilityUtil.isGestureNavigateEnabled(mContext)
+                ? mContext.getString(R.string.accessibility_button_gesture_description)
+                : mContext.getString(R.string.accessibility_button_description);
+    }
 }
diff --git a/tests/robotests/src/com/android/settings/accessibility/AccessibilityButtonFooterPreferenceControllerTest.java b/tests/robotests/src/com/android/settings/accessibility/AccessibilityButtonFooterPreferenceControllerTest.java
new file mode 100644
index 00000000000..33c57625860
--- /dev/null
+++ b/tests/robotests/src/com/android/settings/accessibility/AccessibilityButtonFooterPreferenceControllerTest.java
@@ -0,0 +1,79 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package com.android.settings.accessibility;
+
+import static android.view.WindowManagerPolicyConstants.NAV_BAR_MODE_2BUTTON;
+import static android.view.WindowManagerPolicyConstants.NAV_BAR_MODE_GESTURAL;
+
+import static com.google.common.truth.Truth.assertThat;
+
+import static org.mockito.Mockito.when;
+
+import android.content.Context;
+import android.content.res.Resources;
+
+import androidx.test.core.app.ApplicationProvider;
+
+import com.android.settings.R;
+
+import org.junit.Before;
+import org.junit.Rule;
+import org.junit.Test;
+import org.junit.runner.RunWith;
+import org.mockito.Spy;
+import org.mockito.junit.MockitoJUnit;
+import org.mockito.junit.MockitoRule;
+import org.robolectric.RobolectricTestRunner;
+
+/** Tests for {@link AccessibilityButtonFooterPreferenceController}. */
+@RunWith(RobolectricTestRunner.class)
+public class AccessibilityButtonFooterPreferenceControllerTest {
+
+    @Rule
+    public final MockitoRule mockito = MockitoJUnit.rule();
+
+    @Spy
+    private final Context mContext = ApplicationProvider.getApplicationContext();
+    @Spy
+    private final Resources mResources = mContext.getResources();
+    private AccessibilityButtonFooterPreferenceController mController;
+
+    @Before
+    public void setUp() {
+        mController = new AccessibilityButtonFooterPreferenceController(mContext,
+                "test_key");
+        when(mContext.getResources()).thenReturn(mResources);
+    }
+
+    @Test
+    public void getSummary_navigationGestureEnabled_shouldReturnButtonAndGestureSummary() {
+        when(mResources.getInteger(com.android.internal.R.integer.config_navBarInteractionMode))
+                    .thenReturn(NAV_BAR_MODE_GESTURAL);
+
+        assertThat(mController.getSummary()).isEqualTo(
+                mContext.getText(R.string.accessibility_button_gesture_description));
+    }
+
+    @Test
+    public void getSummary_navigationGestureDisabled_shouldReturnButtonSummary() {
+        when(mResources.getInteger(com.android.internal.R.integer.config_navBarInteractionMode))
+                .thenReturn(NAV_BAR_MODE_2BUTTON);
+
+        assertThat(mController.getSummary()).isEqualTo(
+                mContext.getText(R.string.accessibility_button_description));
+    }
+}