diff --git a/newsfragments/2191.bugfix.rst b/newsfragments/2191.bugfix.rst
new file mode 100644
index 0000000000..59f3a198c4
--- /dev/null
+++ b/newsfragments/2191.bugfix.rst
@@ -0,0 +1 @@
+`trio.from_thread.run` and `trio.from_thread.run_sync` no longer raise `RuntimeError` when used to enter a thread running Trio from a different thread running Trio.
diff --git a/trio/_threads.py b/trio/_threads.py
index 15435d44aa..056c242205 100644
--- a/trio/_threads.py
+++ b/trio/_threads.py
@@ -245,13 +245,18 @@ def _run_fn_as_system_task(cb, fn, *args, context, trio_token=None):
                 "this thread wasn't created by Trio, pass kwarg trio_token=..."
             )
 
-    # Avoid deadlock by making sure we're not called from Trio thread
+    # Avoid deadlock by making sure we're not called from the same Trio thread we're
+    # trying to enter
     try:
-        trio.lowlevel.current_task()
+        current_trio_token = trio.lowlevel.current_trio_token()
     except RuntimeError:
         pass
     else:
-        raise RuntimeError("this is a blocking function; call it from a thread")
+        if trio_token == current_trio_token:
+            raise RuntimeError(
+                "this is a blocking function; using it to re-enter the current Trio "
+                "thread would cause a deadlock"
+            )
 
     q = stdlib_queue.SimpleQueue()
     trio_token.run_sync_soon(context.run, cb, q, fn, args)
diff --git a/trio/tests/test_threads.py b/trio/tests/test_threads.py
index ce852d4612..4e15ee9805 100644
--- a/trio/tests/test_threads.py
+++ b/trio/tests/test_threads.py
@@ -818,7 +818,7 @@ def test_run_fn_as_system_task_catched_badly_typed_token():
         from_thread_run_sync(_core.current_time, trio_token="Not TrioTokentype")
 
 
-async def test_from_thread_inside_trio_thread():
+async def test_from_thread_inside_same_trio_thread():
     def not_called():  # pragma: no cover
         assert False
 
@@ -827,6 +827,15 @@ def not_called():  # pragma: no cover
         from_thread_run_sync(not_called, trio_token=trio_token)
 
 
+async def test_from_thread_inside_different_trio_thread():
+    target_token = current_trio_token()
+
+    async def thread_fn():
+        return from_thread_run_sync(current_trio_token, trio_token=target_token)
+
+    assert target_token == await to_thread_run_sync(_core.run, thread_fn)
+
+
 @pytest.mark.skipif(buggy_pypy_asyncgens, reason="pypy 7.2.0 is buggy")
 def test_from_thread_run_during_shutdown():
     save = []