diff --git a/docs/changes/newsfragments/7732.improved b/docs/changes/newsfragments/7732.improved
new file mode 100644
index 00000000000..00f74c6896b
--- /dev/null
+++ b/docs/changes/newsfragments/7732.improved
@@ -0,0 +1,3 @@
+Added parameters that are controlled by a ParameterWithSetpoints setpoints to
+``ParameterWithSetpoints.unpack_self``. Dependent parameters will now be
+automatically saved in the correct shape alike the corresponding setpoints.
diff --git a/src/qcodes/parameters/parameter_with_setpoints.py b/src/qcodes/parameters/parameter_with_setpoints.py
index d9ef9badf4d..49cde0f9f5b 100644
--- a/src/qcodes/parameters/parameter_with_setpoints.py
+++ b/src/qcodes/parameters/parameter_with_setpoints.py
@@ -160,16 +160,30 @@ def depends_on(self) -> ParameterSet:
         return ParameterSet(self.setpoints)
 
     def unpack_self(self, value: ValuesType) -> list[tuple[ParameterBase, ValuesType]]:
+        """
+        Unpacks the ParameterWithSetpoints, its setpoints and any inferred
+        parameters controlled by the setpoints.
+
+        Args:
+            value(ValuesType): The data acquired from this parameter.
+
+        Returns:
+            A list of tuples of parameters and values to be added as results
+            to the dataset.
+        """
         unpacked_results: list[tuple[ParameterBase, ValuesType]] = []
-        setpoint_params = []
-        setpoint_data = []
-        for setpointparam in self.setpoints:
-            these_setpoints = setpointparam.get()
-            setpoint_params.append(setpointparam)
-            setpoint_data.append(these_setpoints)
-        output_grids = np.meshgrid(*setpoint_data, indexing="ij")
-        for param, grid in zip(setpoint_params, output_grids):
-            unpacked_results.append((param, grid))
+        setpoint_params = list(self.setpoints)
+        setpoint_data = [param.get() for param in setpoint_params]
+        output_grids = list(np.meshgrid(*setpoint_data, indexing="ij"))
+        for i, param in enumerate(setpoint_params[:]):
+            for inferred_param in param.has_control_of:
+                copy_setpoint_data = setpoint_data[:]
+                copy_setpoint_data[i] = inferred_param.get()
+                setpoint_params.append(inferred_param)
+                output_grids.append(
+                    np.meshgrid(*copy_setpoint_data, indexing="ij")[i]
+                )
+        unpacked_results = list(zip(setpoint_params, output_grids))
         unpacked_results.extend(
             super().unpack_self(value)
         )  # Must come last to preserve original ordering
diff --git a/tests/dataset/measurement/test_self_unpacking.py b/tests/dataset/measurement/test_self_unpacking.py
index 7e0245ab17b..19c09249b74 100644
--- a/tests/dataset/measurement/test_self_unpacking.py
+++ b/tests/dataset/measurement/test_self_unpacking.py
@@ -37,9 +37,13 @@ def __init__(
 
     def set_raw(self, value: ParamRawDataType) -> None:
         # Set all dependent parameters based on their mapping functions
+        self.value = value
         for param, slope_offset in self._components_dict.items():
             param(value * slope_offset[0] + slope_offset[1])
 
+    def get_raw(self) -> ParamRawDataType:
+        return self.value
+
     def unpack_self(
         self, value: "ValuesType"
     ) -> list[tuple["ParameterBase", "ValuesType"]]:
@@ -142,6 +146,50 @@ def test_add_result_self_unpack_with_PWS(controlling_parameters, experiment):
     assert pws_data["pws"].shape == (11, 11)
     assert pws_data["pws_setpoints"].shape == (11, 11)
 
+def test_add_result_self_unpack_with_PWS_and_inferred_setpoints(
+        experiment, controlling_parameters):
+    """
+    Test that a ParameterWithSetpoints that has setpoints which themselves
+    have inferred parameters controlled by a ControllingParameter unpacks
+    correctly.
+    """
+    control1, comp1, comp2 = controlling_parameters
+    for param in (control1, comp1, comp2):
+        param.vals = Arrays(shape=(11,))
+    pws_other_setpoints = Parameter(
+        "pws_other_setpoints",
+        get_cmd=lambda: np.linspace(-1, 1, 13),
+        vals=Arrays(shape=(13,)),
+    )
+    pws = ParameterWithSetpoints(
+        "pws",
+        setpoints=(control1, pws_other_setpoints,),
+        vals=Arrays(shape=(11,13)),
+        get_cmd=lambda: np.zeros((11,13)),
+    )
+
+    meas = Measurement(experiment)
+    meas.register_parameter(pws)
+
+    assert all(
+        param in meas._registered_parameters
+        for param in (comp1, comp2, control1, pws)
+    )
+    control1.set(np.linspace(-1, 1, 11))
+    with meas.run() as datasaver:
+        datasaver.add_result((pws, pws()))
+        ds = datasaver.dataset
+
+    dataset_data = ds.get_parameter_data()
+    pws_data = dataset_data.get("pws", None)
+    assert (pws_data) is not None
+    print(pws_data.keys())
+    assert all(
+        param_name in pws_data.keys()
+        for param_name in ("pws", "comp1", "comp2", "control1", "pws_other_setpoints")
+    )
+    for result in ('control1', 'comp1', 'comp2', 'pws', 'pws_other_setpoints'):
+        assert pws_data[result].shape == (1, 11, 13)
 
 # Testing equality methods for deduplication
 def test_non_numeric_values_are_equal() -> None: