diff --git a/src/registrar/forms/application_wizard.py b/src/registrar/forms/application_wizard.py
index 56d62ce2b..43730cde9 100644
--- a/src/registrar/forms/application_wizard.py
+++ b/src/registrar/forms/application_wizard.py
@@ -12,6 +12,7 @@ from django.contrib.auth.mixins import LoginRequiredMixin
 from django.urls import resolve
 
 from formtools.wizard.views import NamedUrlSessionWizardView  # type: ignore
+from formtools.wizard.storage.session import SessionStorage
 
 from registrar.models import Contact, DomainApplication, Domain
 
@@ -382,6 +383,19 @@ WIZARD_CONDITIONS = {
 }
 
 
+class TrackingStorage(SessionStorage):
+
+    """Storage subclass that keeps track of what the current_step has been."""
+
+    def _set_current_step(self, step):
+        super()._set_current_step(step)
+
+        step_history = self.extra_data.setdefault("step_history", [])
+        # can't serialize a set, so keep list entries unique
+        if step not in step_history:
+            step_history.append(step)
+
+
 class ApplicationWizard(LoginRequiredMixin, NamedUrlSessionWizardView):
 
     """Multi-page form ("wizard") for new domain applications.
@@ -397,6 +411,7 @@ class ApplicationWizard(LoginRequiredMixin, NamedUrlSessionWizardView):
     """
 
     form_list = FORMS
+    storage_name = "registrar.forms.application_wizard.TrackingStorage"
 
     def get_template_names(self):
         """Template for the current step.
@@ -418,6 +433,14 @@ class ApplicationWizard(LoginRequiredMixin, NamedUrlSessionWizardView):
         """Add title information to the context for all steps."""
         context = super().get_context_data(form=form, **kwargs)
         context["form_titles"] = TITLES
+
+        # Add information about which steps should be unlocked
+        # TODO: sometimes the first step doesn't get added to the step history
+        # so add it here
+        context["visited"] = self.storage.extra_data.get("step_history", []) + [
+            self.steps.first
+        ]
+
         if self.steps.current == Step.ORGANIZATION_CONTACT:
             context["is_federal"] = self._is_federal()
         if self.steps.current == Step.REVIEW:
diff --git a/src/registrar/templates/application_sidebar.html b/src/registrar/templates/application_sidebar.html
index 60b619e8b..be4f86509 100644
--- a/src/registrar/templates/application_sidebar.html
+++ b/src/registrar/templates/application_sidebar.html
@@ -3,7 +3,7 @@
   <nav aria-label="Form steps,">
     <ul class="usa-sidenav">
     {% for this_step in wizard.steps.all %}
-    {% if forloop.counter <= wizard.steps.step1 %}
+      {% if this_step in visited %}
       <li class="usa-sidenav__item">
         <a href="{% url wizard.url_name step=this_step %}" 
            {% if this_step == wizard.steps.current %}class="usa-current"{% endif%}>