diff --git a/gcc/cp/constraint.cc b/gcc/cp/constraint.cc
index 71898271599..4d667ced342 100644
--- a/gcc/cp/constraint.cc
+++ b/gcc/cp/constraint.cc
@@ -1972,6 +1972,10 @@ struct GTY((for_user)) sat_entry
      the first time.  */
   tree result;
 
+  /* For a !ATOMIC_CONSTR_MAP_INSTANTIATED_P atom, this conveniently points to
+     the entry for the corresponding atom after instantiating its mapping.  */
+  sat_entry *inst_entry;
+
   /* The value of input_location when satisfaction of ATOM+ARGS was first
      performed.  */
   location_t location;
@@ -2131,6 +2135,7 @@ satisfaction_cache
       entry->atom = atom;
       entry->args = args;
       entry->result = NULL_TREE;
+      entry->inst_entry = nullptr;
       entry->location = input_location;
       entry->ftc_begin = entry->ftc_end = -1;
       entry->diagnose_instability = false;
@@ -2170,10 +2175,12 @@ satisfaction_cache::get ()
     {
       /* If we get here, it means satisfaction is self-recursive.  */
       gcc_checking_assert (!entry->result || seen_error ());
+      /* Prefer printing the instantiated mapping.  */
+      tree atom = entry->inst_entry ? entry->inst_entry->atom : entry->atom;
       if (info.noisy ())
-	error_at (EXPR_LOCATION (ATOMIC_CONSTR_EXPR (entry->atom)),
+	error_at (EXPR_LOCATION (ATOMIC_CONSTR_EXPR (atom)),
 		  "satisfaction of atomic constraint %qE depends on itself",
-		  entry->atom);
+		  atom);
       return error_mark_node;
     }
 
@@ -2493,6 +2500,8 @@ satisfy_atom (tree t, tree args, sat_info info)
   gcc_assert (!ATOMIC_CONSTR_MAP_INSTANTIATED_P (t));
   ATOMIC_CONSTR_MAP_INSTANTIATED_P (t) = true;
   satisfaction_cache inst_cache (t, /*args=*/NULL_TREE, info);
+  if (cache.entry && inst_cache.entry)
+    cache.entry->inst_entry = inst_cache.entry;
   if (tree r = inst_cache.get ())
     {
       cache.entry->location = inst_cache.entry->location;
diff --git a/gcc/testsuite/g++.dg/cpp2a/concepts-recursive-sat2.C b/gcc/testsuite/g++.dg/cpp2a/concepts-recursive-sat2.C
index 9bc96f58979..a264f26bc55 100644
--- a/gcc/testsuite/g++.dg/cpp2a/concepts-recursive-sat2.C
+++ b/gcc/testsuite/g++.dg/cpp2a/concepts-recursive-sat2.C
@@ -1,7 +1,8 @@
 // { dg-do compile { target c++20 } }
 
 template<typename T>
-concept Fooable = requires(T t) { foo(t); }; // { dg-error "depends on itself" }
+concept Fooable = requires(T t) { foo(t); };
+// { dg-error "T = test::S]' depends on itself" "" { target *-*-* } .-1 }
 
 template<Fooable T>
 void foo(T t) { }
diff --git a/gcc/testsuite/g++.dg/cpp2a/concepts-recursive-sat5.C b/gcc/testsuite/g++.dg/cpp2a/concepts-recursive-sat5.C
index ba564873a20..63e032494e3 100644
--- a/gcc/testsuite/g++.dg/cpp2a/concepts-recursive-sat5.C
+++ b/gcc/testsuite/g++.dg/cpp2a/concepts-recursive-sat5.C
@@ -3,7 +3,8 @@
 
 struct A { };
 
-template<typename T> concept pipeable = requires(A a, T t) { a | t; }; // { dg-error "depends on itself" }
+template<typename T> concept pipeable = requires(A a, T t) { a | t; };
+// { dg-error "with T = int]' depends on itself" "" { target *-*-* } .-1 }
 
 template<pipeable T> void operator|(A, T);