diff --git a/sdk/python/kfp/v2/compiler/compiler.py b/sdk/python/kfp/v2/compiler/compiler.py
index ecfbdc3dbc..8c6ba84728 100644
--- a/sdk/python/kfp/v2/compiler/compiler.py
+++ b/sdk/python/kfp/v2/compiler/compiler.py
@@ -749,7 +749,6 @@ class Compiler:
         group2 = task2_groups[common_groups_len:]
         return (group1, group2)
 
-    # TODO: revisit for dependency that breaks through DAGs.
     def _get_dependencies(
         self,
         pipeline: pipeline_context.Pipeline,
@@ -780,6 +779,10 @@ class Compiler:
             dependent on G2. Basically dependency only exists in the first
             uncommon ancesters in their ancesters chain. Only sibling
             groups/tasks can have dependencies.
+
+        Raises:
+            RuntimeError: if a task depends on a task inside a condition or loop
+                group.
         """
         dependencies = collections.defaultdict(set)
         for task in pipeline.tasks.values():
@@ -806,6 +809,19 @@ class Compiler:
                     task1=upstream_task,
                     task2=task,
                 )
+
+                # If a task depends on a condition group or a loop group, it
+                # must explicitly dependent on a task inside the group. This
+                # should not be allowed, because it leads to ambiguous
+                # expectations for runtime behaviors.
+                dependent_group = group_name_to_group.get(
+                    upstream_groups[0], None)
+                if isinstance(dependent_group,
+                              (tasks_group.Condition, tasks_group.ParallelFor)):
+                    raise RuntimeError(
+                        f'Task {task.name} cannot dependent on any task inside'
+                        f' the group: {upstream_groups[0]}.')
+
                 dependencies[downstream_groups[0]].add(upstream_groups[0])
 
         return dependencies
diff --git a/sdk/python/kfp/v2/compiler/compiler_test.py b/sdk/python/kfp/v2/compiler/compiler_test.py
index c5f8161d9a..ce7bc61562 100644
--- a/sdk/python/kfp/v2/compiler/compiler_test.py
+++ b/sdk/python/kfp/v2/compiler/compiler_test.py
@@ -107,6 +107,7 @@ class CompilerTest(parameterized.TestCase):
           args:
           - {inputValue: generate_explanation}
       """)
+
             @dsl.pipeline(name='test-boolean-pipeline')
             def simple_pipeline():
                 predict_op(generate_explanation=True)
@@ -480,6 +481,52 @@ class CompilerTest(parameterized.TestCase):
             with self.assertRaisesRegex(ValueError, 'Invalid pipeline name: '):
                 compiler.Compiler()._validate_pipeline_name('my_pipeline')
 
+    def test_invalid_after_dependency(self):
+
+        @dsl.component
+        def producer_op() -> str:
+            return 'a'
+
+        @dsl.component
+        def dummy_op(msg: str = ''):
+            pass
+
+        @dsl.pipeline(name='test-pipeline')
+        def my_pipeline(text: str):
+            with dsl.Condition(text == 'a'):
+                producer_task = producer_op()
+
+            dummy_op().after(producer_task)
+
+        with self.assertRaisesRegex(
+                RuntimeError,
+                'Task dummy-op cannot dependent on any task inside the group:'):
+            compiler.Compiler().compile(
+                pipeline_func=my_pipeline, package_path='result.json')
+
+    def test_invalid_data_dependency(self):
+
+        @dsl.component
+        def producer_op() -> str:
+            return 'a'
+
+        @dsl.component
+        def dummy_op(msg: str = ''):
+            pass
+
+        @dsl.pipeline(name='test-pipeline')
+        def my_pipeline(text: bool):
+            with dsl.ParallelFor(['a, b']):
+                producer_task = producer_op()
+
+            dummy_op(msg=producer_task.output)
+
+        with self.assertRaisesRegex(
+                RuntimeError,
+                'Task dummy-op cannot dependent on any task inside the group:'):
+            compiler.Compiler().compile(
+                pipeline_func=my_pipeline, package_path='result.json')
+
 
 if __name__ == '__main__':
     unittest.main()