diff --git a/commands/lib/upgrade.go b/commands/lib/upgrade.go
index a156553ee6a..b02ed8d5733 100644
--- a/commands/lib/upgrade.go
+++ b/commands/lib/upgrade.go
@@ -17,11 +17,8 @@ package lib
 
 import (
 	"context"
-	"errors"
 
 	"github.com/arduino/arduino-cli/arduino"
-	"github.com/arduino/arduino-cli/arduino/libraries"
-	"github.com/arduino/arduino-cli/arduino/libraries/librariesmanager"
 	"github.com/arduino/arduino-cli/commands"
 	rpc "github.com/arduino/arduino-cli/rpc/cc/arduino/cli/commands/v1"
 )
@@ -33,7 +30,7 @@ func LibraryUpgradeAll(req *rpc.LibraryUpgradeAllRequest, downloadCB rpc.Downloa
 		return &arduino.InvalidInstanceError{}
 	}
 
-	if err := upgrade(lm, listLibraries(lm, true, false), downloadCB, taskCB); err != nil {
+	if err := upgrade(req.Instance, listLibraries(lm, true, false), downloadCB, taskCB); err != nil {
 		return err
 	}
 
@@ -47,6 +44,9 @@ func LibraryUpgradeAll(req *rpc.LibraryUpgradeAllRequest, downloadCB rpc.Downloa
 // LibraryUpgrade upgrades a library
 func LibraryUpgrade(ctx context.Context, req *rpc.LibraryUpgradeRequest, downloadCB rpc.DownloadProgressCB, taskCB rpc.TaskProgressCB) error {
 	lm := commands.GetLibraryManager(req)
+	if lm == nil {
+		return &arduino.InvalidInstanceError{}
+	}
 
 	// Get the library to upgrade
 	name := req.GetName()
@@ -61,23 +61,21 @@ func LibraryUpgrade(ctx context.Context, req *rpc.LibraryUpgradeRequest, downloa
 	}
 
 	// Install update
-	return upgrade(lm, []*installedLib{lib}, downloadCB, taskCB)
+	return upgrade(req.Instance, []*installedLib{lib}, downloadCB, taskCB)
 }
 
-func upgrade(lm *librariesmanager.LibrariesManager, libs []*installedLib, downloadCB rpc.DownloadProgressCB, taskCB rpc.TaskProgressCB) error {
-	// Go through the list and download them
+func upgrade(instance *rpc.Instance, libs []*installedLib, downloadCB rpc.DownloadProgressCB, taskCB rpc.TaskProgressCB) error {
 	for _, lib := range libs {
-		if err := downloadLibrary(lm, lib.Available, downloadCB, taskCB); err != nil {
-			return err
+		libInstallReq := &rpc.LibraryInstallRequest{
+			Instance:    instance,
+			Name:        lib.Library.Name,
+			Version:     "",
+			NoDeps:      false,
+			NoOverwrite: false,
 		}
-	}
-
-	// Go through the list and install them
-	for _, lib := range libs {
-		if err := installLibrary(lm, lib.Available, libraries.User, taskCB); err != nil {
-			if !errors.Is(err, librariesmanager.ErrAlreadyInstalled) {
-				return err
-			}
+		err := LibraryInstall(context.Background(), libInstallReq, downloadCB, taskCB)
+		if err != nil {
+			return err
 		}
 	}
 
diff --git a/internal/integrationtest/lib/lib_test.go b/internal/integrationtest/lib/lib_test.go
index c409a43f855..679d0fd499b 100644
--- a/internal/integrationtest/lib/lib_test.go
+++ b/internal/integrationtest/lib/lib_test.go
@@ -199,3 +199,48 @@ func TestLibDepsOutput(t *testing.T) {
 	require.Equal(t, "WiFiNINA", jsonDeps.Dependencies[6].Name)
 	require.Equal(t, jsonDeps.Dependencies[6].VersionInstalled, jsonDeps.Dependencies[6].VersionRequired)
 }
+
+func TestUpgradeLibraryWithDependencies(t *testing.T) {
+	env, cli := integrationtest.CreateArduinoCLIWithEnvironment(t)
+	defer env.CleanUp()
+
+	// Updates index for cores and libraries
+	_, _, err := cli.Run("core", "update-index")
+	require.NoError(t, err)
+	_, _, err = cli.Run("lib", "update-index")
+	require.NoError(t, err)
+
+	// Install library
+	_, _, err = cli.Run("lib", "install", "Arduino_ConnectionHandler@0.3.3")
+	require.NoError(t, err)
+	stdOut, _, err := cli.Run("lib", "deps", "Arduino_ConnectionHandler@0.3.3", "--format", "json")
+	require.NoError(t, err)
+
+	var jsonDeps struct {
+		Dependencies []struct {
+			Name             string `json:"name"`
+			VersionRequired  string `json:"version_required"`
+			VersionInstalled string `json:"version_installed"`
+		} `json:"dependencies"`
+	}
+	err = json.Unmarshal(stdOut, &jsonDeps)
+	require.NoError(t, err)
+
+	require.Len(t, jsonDeps.Dependencies, 6)
+	require.Equal(t, "Arduino_ConnectionHandler", jsonDeps.Dependencies[0].Name)
+	require.Equal(t, "Arduino_DebugUtils", jsonDeps.Dependencies[1].Name)
+	require.Equal(t, "MKRGSM", jsonDeps.Dependencies[2].Name)
+	require.Equal(t, "MKRNB", jsonDeps.Dependencies[3].Name)
+	require.Equal(t, "WiFi101", jsonDeps.Dependencies[4].Name)
+	require.Equal(t, "WiFiNINA", jsonDeps.Dependencies[5].Name)
+
+	// Test lib upgrade also install new dependencies of already installed library
+	_, _, err = cli.Run("lib", "upgrade", "Arduino_ConnectionHandler")
+	require.NoError(t, err)
+	stdOut, _, err = cli.Run("lib", "deps", "Arduino_ConnectionHandler", "--format", "json")
+	require.NoError(t, err)
+
+	jsonOut := requirejson.Parse(t, stdOut)
+	dependency := jsonOut.Query(`.dependencies[] | select(.name=="MKRWAN")`)
+	require.Equal(t, dependency.Query(".version_required"), dependency.Query(".version_installed"))
+}