diff --git a/packages/@headlessui-react/CHANGELOG.md b/packages/@headlessui-react/CHANGELOG.md
index 1da0b7a..b77c788 100644
--- a/packages/@headlessui-react/CHANGELOG.md
+++ b/packages/@headlessui-react/CHANGELOG.md
@@ -18,6 +18,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Don’t overwrite classes during SSR when rendering fragments ([#2173](https://github.com/tailwindlabs/headlessui/pull/2173))
 - Improve `Combobox` accessibility ([#2153](https://github.com/tailwindlabs/headlessui/pull/2153))
 - Fix crash when reading `headlessuiFocusGuard` of `relatedTarget` in the `FocusTrap` component ([#2203](https://github.com/tailwindlabs/headlessui/pull/2203))
+- Fix `FocusTrap` in `Dialog` when there is only 1 focusable element ([#2172](https://github.com/tailwindlabs/headlessui/pull/2172))
 
 ## [1.7.7] - 2022-12-16
 
diff --git a/packages/@headlessui-react/src/components/dialog/dialog.test.tsx b/packages/@headlessui-react/src/components/dialog/dialog.test.tsx
index 1f3efc9..f632115 100644
--- a/packages/@headlessui-react/src/components/dialog/dialog.test.tsx
+++ b/packages/@headlessui-react/src/components/dialog/dialog.test.tsx
@@ -21,7 +21,7 @@ import {
   getDialogs,
   getDialogOverlays,
 } from '../../test-utils/accessibility-assertions'
-import { click, mouseDrag, press, Keys } from '../../test-utils/interactions'
+import { click, mouseDrag, press, Keys, shift } from '../../test-utils/interactions'
 import { PropsOf } from '../../types'
 import { Transition } from '../transitions/transition'
 import { createPortal } from 'react-dom'
@@ -797,6 +797,106 @@ describe('Keyboard interactions', () => {
         assertActiveElement(document.getElementById('a'))
       })
     )
+
+    it(
+      'should not escape the FocusTrap when there is only 1 focusable element (going forwards)',
+      suppressConsoleLogs(async () => {
+        function Example() {
+          let [isOpen, setIsOpen] = useState(false)
+          return (
+            <>
+              <button id="trigger" onClick={() => setIsOpen((v) => !v)}>
+                Trigger
+              </button>
+              <button>Before</button>
+              <Dialog open={isOpen} onClose={setIsOpen}>
+                <Dialog.Panel>
+                  <input type="text" id="a" />
+                </Dialog.Panel>
+              </Dialog>
+              <button>After</button>
+            </>
+          )
+        }
+        render(<Example />)
+
+        assertDialog({ state: DialogState.InvisibleUnmounted })
+
+        // Open dialog
+        await click(document.getElementById('trigger'))
+
+        // Verify it is open
+        assertDialog({
+          state: DialogState.Visible,
+          attributes: { id: 'headlessui-dialog-1' },
+        })
+
+        // Verify that the input field is focused
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(Keys.Tab)
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(Keys.Tab)
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(Keys.Tab)
+        assertActiveElement(document.getElementById('a'))
+      })
+    )
+
+    it(
+      'should not escape the FocusTrap when there is only 1 focusable element (going backwards)',
+      suppressConsoleLogs(async () => {
+        function Example() {
+          let [isOpen, setIsOpen] = useState(false)
+          return (
+            <>
+              <button id="trigger" onClick={() => setIsOpen((v) => !v)}>
+                Trigger
+              </button>
+              <button>Before</button>
+              <Dialog open={isOpen} onClose={setIsOpen}>
+                <Dialog.Panel>
+                  <input type="text" id="a" />
+                </Dialog.Panel>
+              </Dialog>
+              <button>After</button>
+            </>
+          )
+        }
+        render(<Example />)
+
+        assertDialog({ state: DialogState.InvisibleUnmounted })
+
+        // Open dialog
+        await click(document.getElementById('trigger'))
+
+        // Verify it is open
+        assertDialog({
+          state: DialogState.Visible,
+          attributes: { id: 'headlessui-dialog-1' },
+        })
+
+        // Verify that the input field is focused
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(shift(Keys.Tab))
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(shift(Keys.Tab))
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(shift(Keys.Tab))
+        assertActiveElement(document.getElementById('a'))
+      })
+    )
   })
 })
 
diff --git a/packages/@headlessui-react/src/components/focus-trap/focus-trap.test.tsx b/packages/@headlessui-react/src/components/focus-trap/focus-trap.test.tsx
index 7f43d5c..054ed6d 100644
--- a/packages/@headlessui-react/src/components/focus-trap/focus-trap.test.tsx
+++ b/packages/@headlessui-react/src/components/focus-trap/focus-trap.test.tsx
@@ -108,6 +108,50 @@ it('should warn when there is no focusable element inside the FocusTrap', async
   spy.mockReset()
 })
 
+it(
+  'should not be possible to programmatically escape the focus trap (if there is only 1 focusable element)',
+  suppressConsoleLogs(async () => {
+    function Example() {
+      return (
+        <>
+          <input id="a" autoFocus />
+
+          <FocusTrap>
+            <input id="b" />
+          </FocusTrap>
+        </>
+      )
+    }
+
+    render(<Example />)
+
+    await nextFrame()
+
+    let [a, b] = Array.from(document.querySelectorAll('input'))
+
+    // Ensure that input-b is the active element
+    assertActiveElement(b)
+
+    // Tab to the next item
+    await press(Keys.Tab)
+
+    // Ensure that input-b is still the active element
+    assertActiveElement(b)
+
+    // Try to move focus
+    a?.focus()
+
+    // Ensure that input-b is still the active element
+    assertActiveElement(b)
+
+    // Click on an element within the FocusTrap
+    await click(b)
+
+    // Ensure that input-b is the active element
+    assertActiveElement(b)
+  })
+)
+
 it(
   'should not be possible to programmatically escape the focus trap',
   suppressConsoleLogs(async () => {
@@ -214,6 +258,56 @@ it('should restore the previously focused element, before entering the FocusTrap
   assertActiveElement(document.getElementById('item-2'))
 })
 
+it('should stay in the FocusTrap when using `tab`, if there is only 1 focusable element', async () => {
+  render(
+    <>
+      <button>Before</button>
+      <FocusTrap>
+        <button id="item-a">Item A</button>
+      </FocusTrap>
+      <button>After</button>
+    </>
+  )
+
+  await nextFrame()
+
+  // Item A should be focused because the FocusTrap will focus the first item
+  assertActiveElement(document.getElementById('item-a'))
+
+  // Next
+  await press(Keys.Tab)
+  assertActiveElement(document.getElementById('item-a'))
+
+  // Next
+  await press(Keys.Tab)
+  assertActiveElement(document.getElementById('item-a'))
+})
+
+it('should stay in the FocusTrap when using `shift+tab`, if there is only 1 focusable element', async () => {
+  render(
+    <>
+      <button>Before</button>
+      <FocusTrap>
+        <button id="item-a">Item A</button>
+      </FocusTrap>
+      <button>After</button>
+    </>
+  )
+
+  await nextFrame()
+
+  // Item A should be focused because the FocusTrap will focus the first item
+  assertActiveElement(document.getElementById('item-a'))
+
+  // Previous (loop around!)
+  await press(shift(Keys.Tab))
+  assertActiveElement(document.getElementById('item-a'))
+
+  // Previous
+  await press(shift(Keys.Tab))
+  assertActiveElement(document.getElementById('item-a'))
+})
+
 it('should be possible tab to the next focusable element within the focus trap', async () => {
   render(
     <>
diff --git a/packages/@headlessui-react/src/components/focus-trap/focus-trap.tsx b/packages/@headlessui-react/src/components/focus-trap/focus-trap.tsx
index 606d267..df13b43 100644
--- a/packages/@headlessui-react/src/components/focus-trap/focus-trap.tsx
+++ b/packages/@headlessui-react/src/components/focus-trap/focus-trap.tsx
@@ -85,10 +85,12 @@ export let FocusTrap = Object.assign(
       let wrapper = process.env.NODE_ENV === 'test' ? microTask : (cb: Function) => cb()
       wrapper(() => {
         match(direction.current, {
-          [TabDirection.Forwards]: () =>
-            focusIn(el, Focus.First, { skipElements: [e.relatedTarget as HTMLElement] }),
-          [TabDirection.Backwards]: () =>
-            focusIn(el, Focus.Last, { skipElements: [e.relatedTarget as HTMLElement] }),
+          [TabDirection.Forwards]: () => {
+            focusIn(el, Focus.First, { skipElements: [e.relatedTarget as HTMLElement] })
+          },
+          [TabDirection.Backwards]: () => {
+            focusIn(el, Focus.Last, { skipElements: [e.relatedTarget as HTMLElement] })
+          },
         })
       })
     })
diff --git a/packages/@headlessui-react/src/utils/focus-management.ts b/packages/@headlessui-react/src/utils/focus-management.ts
index ab8971a..3301664 100644
--- a/packages/@headlessui-react/src/utils/focus-management.ts
+++ b/packages/@headlessui-react/src/utils/focus-management.ts
@@ -171,7 +171,7 @@ export function focusIn(
       : container
     : getFocusableElements(container)
 
-  if (skipElements.length > 0) {
+  if (skipElements.length > 0 && elements.length > 1) {
     elements = elements.filter((x) => !skipElements.includes(x))
   }
 
diff --git a/packages/@headlessui-vue/CHANGELOG.md b/packages/@headlessui-vue/CHANGELOG.md
index 35069d5..cf7fb2a 100644
--- a/packages/@headlessui-vue/CHANGELOG.md
+++ b/packages/@headlessui-vue/CHANGELOG.md
@@ -19,6 +19,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - Don’t overwrite classes during SSR when rendering fragments ([#2173](https://github.com/tailwindlabs/headlessui/pull/2173))
 - Improve `Combobox` accessibility ([#2153](https://github.com/tailwindlabs/headlessui/pull/2153))
 - Fix crash when reading `headlessuiFocusGuard` of `relatedTarget` in the `FocusTrap` component ([#2203](https://github.com/tailwindlabs/headlessui/pull/2203))
+- Fix `FocusTrap` in `Dialog` when there is only 1 focusable element ([#2172](https://github.com/tailwindlabs/headlessui/pull/2172))
 
 ## [1.7.7] - 2022-12-16
 
diff --git a/packages/@headlessui-vue/src/components/dialog/dialog.test.ts b/packages/@headlessui-vue/src/components/dialog/dialog.test.ts
index 9d4bac9..3a9f600 100644
--- a/packages/@headlessui-vue/src/components/dialog/dialog.test.ts
+++ b/packages/@headlessui-vue/src/components/dialog/dialog.test.ts
@@ -30,7 +30,7 @@ import {
   getDialogs,
   getDialogOverlays,
 } from '../../test-utils/accessibility-assertions'
-import { click, mouseDrag, press, Keys } from '../../test-utils/interactions'
+import { click, mouseDrag, press, Keys, shift } from '../../test-utils/interactions'
 import { html } from '../../test-utils/html'
 
 // @ts-expect-error
@@ -1074,6 +1074,126 @@ describe('Keyboard interactions', () => {
         assertActiveElement(document.getElementById('a'))
       })
     )
+
+    it(
+      'should not escape the FocusTrap when there is only 1 focusable element (going forwards)',
+      suppressConsoleLogs(async () => {
+        renderTemplate({
+          template: `
+            <div>
+              <button id="trigger" @click="toggleOpen">
+                Trigger
+              </button>
+              <Dialog :open="isOpen" @close="setIsOpen">
+                <DialogPanel>
+                  <input type="text" id="a" />
+                <DialogPanel>
+              </Dialog>
+            </div>
+          `,
+          setup() {
+            let isOpen = ref(false)
+            let initialFocusRef = ref(null)
+            return {
+              isOpen,
+              initialFocusRef,
+              setIsOpen(value: boolean) {
+                isOpen.value = value
+              },
+              toggleOpen() {
+                isOpen.value = !isOpen.value
+              },
+            }
+          },
+        })
+
+        assertDialog({ state: DialogState.InvisibleUnmounted })
+
+        // Open dialog
+        await click(document.getElementById('trigger'))
+
+        // Verify it is open
+        assertDialog({
+          state: DialogState.Visible,
+          attributes: { id: 'headlessui-dialog-1' },
+        })
+
+        // Verify that the input field is focused
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(Keys.Tab)
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(Keys.Tab)
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(Keys.Tab)
+        assertActiveElement(document.getElementById('a'))
+      })
+    )
+
+    it(
+      'should not escape the FocusTrap when there is only 1 focusable element (going backwards)',
+      suppressConsoleLogs(async () => {
+        renderTemplate({
+          template: `
+            <div>
+              <button id="trigger" @click="toggleOpen">
+                Trigger
+              </button>
+              <Dialog :open="isOpen" @close="setIsOpen">
+                <DialogPanel>
+                  <input type="text" id="a" />
+                <DialogPanel>
+              </Dialog>
+            </div>
+          `,
+          setup() {
+            let isOpen = ref(false)
+            let initialFocusRef = ref(null)
+            return {
+              isOpen,
+              initialFocusRef,
+              setIsOpen(value: boolean) {
+                isOpen.value = value
+              },
+              toggleOpen() {
+                isOpen.value = !isOpen.value
+              },
+            }
+          },
+        })
+
+        assertDialog({ state: DialogState.InvisibleUnmounted })
+
+        // Open dialog
+        await click(document.getElementById('trigger'))
+
+        // Verify it is open
+        assertDialog({
+          state: DialogState.Visible,
+          attributes: { id: 'headlessui-dialog-1' },
+        })
+
+        // Verify that the input field is focused
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(shift(Keys.Tab))
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(shift(Keys.Tab))
+        assertActiveElement(document.getElementById('a'))
+
+        // Verify that we stay within the Dialog
+        await press(shift(Keys.Tab))
+        assertActiveElement(document.getElementById('a'))
+      })
+    )
   })
 })
 
diff --git a/packages/@headlessui-vue/src/components/focus-trap/focus-trap.test.ts b/packages/@headlessui-vue/src/components/focus-trap/focus-trap.test.ts
index c7996c7..f3c4c58 100644
--- a/packages/@headlessui-vue/src/components/focus-trap/focus-trap.test.ts
+++ b/packages/@headlessui-vue/src/components/focus-trap/focus-trap.test.ts
@@ -227,6 +227,60 @@ it('should restore the previously focused element, before entering the FocusTrap
   assertActiveElement(document.getElementById('item-2'))
 })
 
+it('should stay in the FocusTrap when using `tab`, if there is only 1 focusable element', async () => {
+  renderTemplate({
+    template: html`
+      <div>
+        <button>Before</button>
+        <FocusTrap>
+          <button id="item-a">Item A</button>
+        </FocusTrap>
+        <button>After</button>
+      </div>
+    `,
+  })
+
+  await nextFrame()
+
+  // Item A should be focused because the FocusTrap will focus the first item
+  assertActiveElement(document.getElementById('item-a'))
+
+  // Next
+  await press(Keys.Tab)
+  assertActiveElement(document.getElementById('item-a'))
+
+  // Next
+  await press(Keys.Tab)
+  assertActiveElement(document.getElementById('item-a'))
+})
+
+it('should stay in the FocusTrap when using `shift+tab`, if there is only 1 focusable element', async () => {
+  renderTemplate({
+    template: html`
+      <div>
+        <button>Before</button>
+        <FocusTrap>
+          <button id="item-a">Item A</button>
+        </FocusTrap>
+        <button>After</button>
+      </div>
+    `,
+  })
+
+  await nextFrame()
+
+  // Item A should be focused because the FocusTrap will focus the first item
+  assertActiveElement(document.getElementById('item-a'))
+
+  // Previous (loop around!)
+  await press(shift(Keys.Tab))
+  assertActiveElement(document.getElementById('item-a'))
+
+  // Previous
+  await press(shift(Keys.Tab))
+  assertActiveElement(document.getElementById('item-a'))
+})
+
 it('should be possible to tab to the next focusable element within the focus trap', async () => {
   renderTemplate(
     html`
diff --git a/packages/@headlessui-vue/src/components/focus-trap/focus-trap.ts b/packages/@headlessui-vue/src/components/focus-trap/focus-trap.ts
index 4cd3790..119ec91 100644
--- a/packages/@headlessui-vue/src/components/focus-trap/focus-trap.ts
+++ b/packages/@headlessui-vue/src/components/focus-trap/focus-trap.ts
@@ -89,10 +89,12 @@ export let FocusTrap = Object.assign(
         let wrapper = process.env.NODE_ENV === 'test' ? microTask : (cb: Function) => cb()
         wrapper(() => {
           match(direction.value, {
-            [TabDirection.Forwards]: () =>
-              focusIn(el, Focus.First, { skipElements: [e.relatedTarget as HTMLElement] }),
-            [TabDirection.Backwards]: () =>
-              focusIn(el, Focus.Last, { skipElements: [e.relatedTarget as HTMLElement] }),
+            [TabDirection.Forwards]: () => {
+              focusIn(el, Focus.First, { skipElements: [e.relatedTarget as HTMLElement] })
+            },
+            [TabDirection.Backwards]: () => {
+              focusIn(el, Focus.Last, { skipElements: [e.relatedTarget as HTMLElement] })
+            },
           })
         })
       }
diff --git a/packages/@headlessui-vue/src/utils/focus-management.ts b/packages/@headlessui-vue/src/utils/focus-management.ts
index 9ec2cd5..846f666 100644
--- a/packages/@headlessui-vue/src/utils/focus-management.ts
+++ b/packages/@headlessui-vue/src/utils/focus-management.ts
@@ -165,7 +165,7 @@ export function focusIn(
       : container
     : getFocusableElements(container)
 
-  if (skipElements.length > 0) {
+  if (skipElements.length > 0 && elements.length > 1) {
     elements = elements.filter((x) => !skipElements.includes(x))
   }