diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.cc b/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.cc
index 902c391f5..56169a3b8 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.cc
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.cc
@@ -261,41 +261,10 @@ void GcsPlacementGroupScheduler::ScheduleUnplacedBundles(
 
 void GcsPlacementGroupScheduler::DestroyPlacementGroupBundleResourcesIfExists(
     const PlacementGroupID &placement_group_id) {
-  std::shared_ptr<BundleLocations> committed_bundle_locations =
-      std::make_shared<BundleLocations>();
-  std::shared_ptr<BundleLocations> leasing_bundle_locations =
-      std::make_shared<BundleLocations>();
-
-  // Check if we can find committed bundle locations.
-  const auto &maybe_bundle_locations =
-      committed_bundle_location_index_.GetBundleLocations(placement_group_id);
-  if (maybe_bundle_locations.has_value()) {
-    committed_bundle_locations = maybe_bundle_locations.value();
-  }
-
-  // Now let's see if there are leasing bundles. There could be leasing bundles and
-  // committed bundles at the same time if placement groups are rescheduling.
-  auto it = placement_group_leasing_in_progress_.find(placement_group_id);
-  if (it != placement_group_leasing_in_progress_.end()) {
-    const auto &leasing_context = it->second;
-    leasing_bundle_locations = leasing_context->GetPreparedBundleLocations();
-  }
-
-  // Cancel all resource reservation.
-  RAY_LOG(INFO) << "Cancelling all bundles of a placement group, id is "
-                << placement_group_id;
-  for (const auto &iter : *(committed_bundle_locations)) {
-    auto &bundle_spec = iter.second.second;
-    auto &node_id = iter.second.first;
-    CancelResourceReserve(bundle_spec, gcs_node_manager_.GetNode(node_id));
-  }
-
-  for (const auto &iter : *(leasing_bundle_locations)) {
-    auto &bundle_spec = iter.second.second;
-    auto &node_id = iter.second.first;
-    CancelResourceReserve(bundle_spec, gcs_node_manager_.GetNode(node_id));
-  }
-  committed_bundle_location_index_.Erase(placement_group_id);
+  // There could be leasing bundles and committed bundles at the same time if placement
+  // groups are rescheduling.
+  DestroyPlacementGroupPreparedBundleResources(placement_group_id);
+  DestroyPlacementGroupCommittedBundleResources(placement_group_id);
 }
 
 void GcsPlacementGroupScheduler::MarkScheduleCancelled(
@@ -453,7 +422,10 @@ void GcsPlacementGroupScheduler::OnAllBundlePrepareRequestReturned(
 
   if (!lease_status_tracker->AllPrepareRequestsSuccessful()) {
     // Erase the status tracker from a in-memory map if exists.
-    DestroyPlacementGroupBundleResourcesIfExists(placement_group_id);
+    // NOTE: A placement group may be scheduled several times to succeed.
+    // If a prepare failure occurs during scheduling, we just need to release the prepared
+    // bundle resources of this scheduling.
+    DestroyPlacementGroupPreparedBundleResources(placement_group_id);
     auto it = placement_group_leasing_in_progress_.find(placement_group_id);
     RAY_CHECK(it != placement_group_leasing_in_progress_.end());
     placement_group_leasing_in_progress_.erase(it);
@@ -595,20 +567,49 @@ void GcsPlacementGroupScheduler::ReleaseUnusedBundles(
   }
 }
 
+void GcsPlacementGroupScheduler::DestroyPlacementGroupPreparedBundleResources(
+    const PlacementGroupID &placement_group_id) {
+  // Get the locations of prepared bundles.
+  auto it = placement_group_leasing_in_progress_.find(placement_group_id);
+  if (it != placement_group_leasing_in_progress_.end()) {
+    const auto &leasing_context = it->second;
+    const auto &leasing_bundle_locations = leasing_context->GetPreparedBundleLocations();
+
+    // Cancel all resource reservation of prepared bundles.
+    RAY_LOG(INFO) << "Cancelling all prepared bundles of a placement group, id is "
+                  << placement_group_id;
+    for (const auto &iter : *(leasing_bundle_locations)) {
+      auto &bundle_spec = iter.second.second;
+      auto &node_id = iter.second.first;
+      CancelResourceReserve(bundle_spec, gcs_node_manager_.GetNode(node_id));
+    }
+  }
+}
+
+void GcsPlacementGroupScheduler::DestroyPlacementGroupCommittedBundleResources(
+    const PlacementGroupID &placement_group_id) {
+  // Get the locations of committed bundles.
+  const auto &maybe_bundle_locations =
+      committed_bundle_location_index_.GetBundleLocations(placement_group_id);
+  if (maybe_bundle_locations.has_value()) {
+    const auto &committed_bundle_locations = maybe_bundle_locations.value();
+
+    // Cancel all resource reservation of committed bundles.
+    RAY_LOG(INFO) << "Cancelling all committed bundles of a placement group, id is "
+                  << placement_group_id;
+    for (const auto &iter : *(committed_bundle_locations)) {
+      auto &bundle_spec = iter.second.second;
+      auto &node_id = iter.second.first;
+      CancelResourceReserve(bundle_spec, gcs_node_manager_.GetNode(node_id));
+    }
+    committed_bundle_location_index_.Erase(placement_group_id);
+  }
+}
+
 void BundleLocationIndex::AddBundleLocations(
     const PlacementGroupID &placement_group_id,
     std::shared_ptr<BundleLocations> bundle_locations) {
-  // Update `placement_group_to_bundle_locations_`.
-  // The placement group may be scheduled several times to succeed, so we need to merge
-  // `bundle_locations` instead of covering it directly.
-  auto iter = placement_group_to_bundle_locations_.find(placement_group_id);
-  if (iter == placement_group_to_bundle_locations_.end()) {
-    placement_group_to_bundle_locations_.emplace(placement_group_id, bundle_locations);
-  } else {
-    iter->second->insert(bundle_locations->begin(), bundle_locations->end());
-  }
-
-  // Update `node_to_leased_bundles_`.
+  placement_group_to_bundle_locations_.emplace(placement_group_id, bundle_locations);
   for (auto iter : *bundle_locations) {
     const auto &node_id = iter.second.first;
     if (!node_to_leased_bundles_.contains(node_id)) {
diff --git a/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.h b/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.h
index d64a7ce41..2444c4804 100644
--- a/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.h
+++ b/src/ray/gcs/gcs_server/gcs_placement_group_scheduler.h
@@ -459,6 +459,24 @@ class GcsPlacementGroupScheduler : public GcsPlacementGroupSchedulerInterface {
                         const std::function<void(std::shared_ptr<GcsPlacementGroup>)>
                             &schedule_success_handler);
 
+  /// Destroy the prepared bundle resources with this placement group.
+  /// The method is idempotent, meaning if all bundles are already cancelled,
+  /// this method won't do anything.
+  ///
+  /// \param placement_group_id The id of a placement group to destroy all prepared
+  /// bundles.
+  void DestroyPlacementGroupPreparedBundleResources(
+      const PlacementGroupID &placement_group_id);
+
+  /// Destroy the committed bundle resources with this placement group.
+  /// The method is idempotent, meaning if all bundles are already cancelled,
+  /// this method won't do anything.
+  ///
+  /// \param placement_group_id The id of a placement group to destroy all committed
+  /// bundles.
+  void DestroyPlacementGroupCommittedBundleResources(
+      const PlacementGroupID &placement_group_id);
+
   /// Generate schedule context.
   std::unique_ptr<ScheduleContext> GetScheduleContext(
       const PlacementGroupID &placement_group_id);