diff --git a/python/pyspark/sql/tests/test_pandas_cogrouped_map.py b/python/pyspark/sql/tests/test_pandas_cogrouped_map.py
index 3c016e04adf2e..94a12bfb3f656 100644
--- a/python/pyspark/sql/tests/test_pandas_cogrouped_map.py
+++ b/python/pyspark/sql/tests/test_pandas_cogrouped_map.py
@@ -203,6 +203,18 @@ def test_case_insensitive_grouping_column(self):
         ).applyInPandas(lambda r, l: r + l, "column long, value long").first()
         self.assertEqual(row.asDict(), Row(column=2, value=2).asDict())
 
+    def test_self_join(self):
+        # SPARK-34319: self-join with FlatMapCoGroupsInPandas
+        df = self.spark.createDataFrame([(1, 1)], ("column", "value"))
+
+        row = df.groupby("ColUmn").cogroup(
+            df.groupby("COLUMN")
+        ).applyInPandas(lambda r, l: r + l, "column long, value long")
+
+        row = row.join(row).first()
+
+        self.assertEqual(row.asDict(), Row(column=2, value=2).asDict())
+
     @staticmethod
     def _test_with_key(left, right, isLeft):
 
diff --git a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/analysis/Analyzer.scala b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/analysis/Analyzer.scala
index 99f6062a0d243..53696a368f9a9 100644
--- a/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/analysis/Analyzer.scala
+++ b/sql/catalyst/src/main/scala/org/apache/spark/sql/catalyst/analysis/Analyzer.scala
@@ -1405,6 +1405,10 @@ class Analyzer(override val catalogManager: CatalogManager)
             if oldVersion.outputSet.intersect(conflictingAttributes).nonEmpty =>
           Seq((oldVersion, oldVersion.copy(output = output.map(_.newInstance()))))
 
+        case oldVersion @ FlatMapCoGroupsInPandas(_, _, _, output, _, _)
+          if oldVersion.outputSet.intersect(conflictingAttributes).nonEmpty =>
+          Seq((oldVersion, oldVersion.copy(output = output.map(_.newInstance()))))
+
         case oldVersion: Generate
             if oldVersion.producedAttributes.intersect(conflictingAttributes).nonEmpty =>
           val newOutput = oldVersion.generatorOutput.map(_.newInstance())
diff --git a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/analysis/AnalysisSuite.scala b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/analysis/AnalysisSuite.scala
index f66871ee75ecc..196c2e58ea9a5 100644
--- a/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/analysis/AnalysisSuite.scala
+++ b/sql/catalyst/src/test/scala/org/apache/spark/sql/catalyst/analysis/AnalysisSuite.scala
@@ -631,6 +631,29 @@ class AnalysisSuite extends AnalysisTest with Matchers {
       Project(Seq(UnresolvedAttribute("temp0.a"), UnresolvedAttribute("temp1.a")), join))
   }
 
+  test("SPARK-34319: analysis fails on self-join with FlatMapCoGroupsInPandas") {
+    val pythonUdf = PythonUDF("pyUDF", null,
+      StructType(Seq(StructField("a", LongType))),
+      Seq.empty,
+      PythonEvalType.SQL_COGROUPED_MAP_PANDAS_UDF,
+      true)
+    val output = pythonUdf.dataType.asInstanceOf[StructType].toAttributes
+    val project1 = Project(Seq(UnresolvedAttribute("a")), testRelation)
+    val project2 = Project(Seq(UnresolvedAttribute("a")), testRelation2)
+    val flatMapGroupsInPandas = FlatMapCoGroupsInPandas(
+      Seq(UnresolvedAttribute("a")),
+      Seq(UnresolvedAttribute("a")),
+      pythonUdf,
+      output,
+      project1,
+      project2)
+    val left = SubqueryAlias("temp0", flatMapGroupsInPandas)
+    val right = SubqueryAlias("temp1", flatMapGroupsInPandas)
+    val join = Join(left, right, Inner, None, JoinHint.NONE)
+    assertAnalysisSuccess(
+      Project(Seq(UnresolvedAttribute("temp0.a"), UnresolvedAttribute("temp1.a")), join))
+  }
+
   test("SPARK-24488 Generator with multiple aliases") {
     assertAnalysisSuccess(
       listRelation.select(Explode($"list").as("first_alias").as("second_alias")))