diff --git a/mitmproxy/proxy2/layers/http/_http2.py b/mitmproxy/proxy2/layers/http/_http2.py
index 25dabcd33..0b94b5d15 100644
--- a/mitmproxy/proxy2/layers/http/_http2.py
+++ b/mitmproxy/proxy2/layers/http/_http2.py
@@ -277,6 +277,9 @@ class Http2Client(Http2Connection):
     ReceiveEndOfMessage = ResponseEndOfMessage
     SendEndOfMessage = RequestEndOfMessage
 
+    our_stream_id = Dict[int, int]
+    their_stream_id = Dict[int, int]
+
     def __init__(self, context: Context):
         super().__init__(context, context.server)
         # Disable HTTP/2 push for now to keep things simple.
@@ -284,8 +287,27 @@ class Http2Client(Http2Connection):
         self.h2_conn.local_settings.enable_push = 0
         # hyper-h2 pitfall: we need to acknowledge here, otherwise its sends out the old settings.
         self.h2_conn.local_settings.acknowledge()
+        self.our_stream_id = {}
+        self.their_stream_id = {}
 
     def _handle_event(self, event: Event) -> CommandGenerator[None]:
+        # We can't reuse stream ids from the client because they may arrived reordered here
+        # and HTTP/2 forbids opening a stream on a lower id than what was previously sent (see test_stream_concurrency).
+        # To mitigate this, we transparently map the outside's stream id to our stream id.
+        if isinstance(event, HttpEvent):
+            ours = self.our_stream_id.get(event.stream_id, None)
+            if ours is None:
+                ours = self.h2_conn.get_next_available_stream_id()
+                self.our_stream_id[event.stream_id] = ours
+                self.their_stream_id[ours] = event.stream_id
+            event.stream_id = ours
+
+        for cmd in self._handle_event2(event):
+            if isinstance(cmd, ReceiveHttp):
+                cmd.event.stream_id = self.their_stream_id[cmd.event.stream_id]
+            yield cmd
+
+    def _handle_event2(self, event: Event) -> CommandGenerator[None]:
         if isinstance(event, RequestHeaders):
             pseudo_headers = [
                 (b':method', event.request.method),
diff --git a/test/mitmproxy/proxy2/layers/http/test_http2.py b/test/mitmproxy/proxy2/layers/http/test_http2.py
index c0ed03c03..4c6cb76be 100644
--- a/test/mitmproxy/proxy2/layers/http/test_http2.py
+++ b/test/mitmproxy/proxy2/layers/http/test_http2.py
@@ -303,3 +303,50 @@ def test_rst_then_close(tctx):
             >> reply()
     )
     assert flow().error.msg == "connection cancelled"
+
+
+def test_stream_concurrency(tctx):
+    """Test that we can send an intercepted request with a lower stream id than one that has already been sent."""
+    playbook, cff = start_h2_client(tctx)
+    flow1 = Placeholder(HTTPFlow)
+    flow2 = Placeholder(HTTPFlow)
+
+    reqheadershook1 = http.HttpRequestHeadersHook(flow1)
+    reqheadershook2 = http.HttpRequestHeadersHook(flow2)
+    reqhook1 = http.HttpRequestHook(flow1)
+    reqhook2 = http.HttpRequestHook(flow2)
+
+    server = Placeholder(Server)
+    data_req1 = Placeholder(bytes)
+    data_req2 = Placeholder(bytes)
+
+    assert (playbook
+            >> DataReceived(
+                tctx.client,
+                cff.build_headers_frame(example_request_headers, flags=["END_STREAM"], stream_id=1).serialize() +
+                cff.build_headers_frame(example_request_headers, flags=["END_STREAM"], stream_id=3).serialize())
+            << reqheadershook1
+            << reqheadershook2
+            >> reply(to=reqheadershook1)
+            << reqhook1
+            >> reply(to=reqheadershook2)
+            << reqhook2
+            # req 2 overtakes 1 and we already have a reply:
+            >> reply(to=reqhook2)
+            << OpenConnection(server)
+            >> reply(None, side_effect=make_h2)
+            << SendData(server, data_req2)
+            >> reply(to=reqhook1)
+            << SendData(server, data_req1)
+            )
+    frames = decode_frames(data_req2())
+    assert [type(x) for x in frames] == [
+        hyperframe.frame.SettingsFrame,
+        hyperframe.frame.HeadersFrame,
+        hyperframe.frame.DataFrame
+    ]
+    frames = decode_frames(data_req1())
+    assert [type(x) for x in frames] == [
+        hyperframe.frame.HeadersFrame,
+        hyperframe.frame.DataFrame
+    ]