diff --git a/gs/backend/data/data_wrappers/wrappers.py b/gs/backend/data/data_wrappers/wrappers.py
index bd7645c7d..08c260121 100644
--- a/gs/backend/data/data_wrappers/wrappers.py
+++ b/gs/backend/data/data_wrappers/wrappers.py
@@ -99,6 +99,21 @@ class CommandsWrapper(AbstractWrapper[Commands]):
 
     model = Commands
 
+    def retrieve_floating_commands(self) -> list[Commands]:
+        """
+        Retrieves all commands which do not have a valid entry in
+        the packet_commands table.
+        A command which is not valid is considered as any command whose ID
+        does not match with any command_id in the packet_commands table
+        """
+        packet_commands = PacketCommandsWrapper().get_all()
+        packet_ids = {packet_command.command_id for packet_command in packet_commands}
+
+        commands = self.get_all()
+        floating_commands = [fc for fc in commands if fc.id not in packet_ids]
+
+        return floating_commands
+
 
 class TelemetryWrapper(AbstractWrapper[Telemetry]):
     """
diff --git a/python_test/conftest.py b/python_test/conftest.py
index 08b9c5225..1bf9d8bd4 100644
--- a/python_test/conftest.py
+++ b/python_test/conftest.py
@@ -49,6 +49,7 @@ def test_get_db_session(monkeypatch, db_session: Session):
     When testing any database function that requires the `get_db_session()` function, you must add the module path to the list below.
     """
     path_list: list[str] = [
+        "gs.backend.data.data_wrappers.abstract_wrapper",
         "gs.backend.data.data_wrappers.aro_wrapper.aro_request_wrapper",
         "gs.backend.data.data_wrappers.aro_wrapper.aro_user_data_wrapper",
         "gs.backend.data.data_wrappers.aro_wrapper.aro_user_auth_token_wrapper",
diff --git a/python_test/test_retrieve_floating_commands.py b/python_test/test_retrieve_floating_commands.py
new file mode 100644
index 000000000..0dc2e285b
--- /dev/null
+++ b/python_test/test_retrieve_floating_commands.py
@@ -0,0 +1,71 @@
+from datetime import datetime
+from uuid import uuid4
+
+from gs.backend.data.data_wrappers.wrappers import (
+    CommandsWrapper,
+    CommsSessionWrapper,
+    MainCommandWrapper,
+    PacketCommandsWrapper,
+    PacketWrapper,
+)
+from gs.backend.data.enums.transactional import MainPacketType
+
+
+def test_retrieve_floating_commands_filters():
+    pcw = PacketCommandsWrapper()
+    cw = CommandsWrapper()
+    mc = MainCommandWrapper()
+    pw = PacketWrapper()
+    csw = CommsSessionWrapper()
+
+    packet_id = uuid4()
+    cmd_type = mc.create(
+        dict(
+            id=1,
+            name="test",
+            data_size=1,
+            total_size=1,
+        )
+    ).id
+
+    comms_session = csw.create({"id": uuid4(), "start_time": datetime.now()})
+    packet = pw.create(
+        dict(
+            id=packet_id,
+            session_id=comms_session.id,
+            raw_data=b"\x00",
+            type_=MainPacketType.UPLINK,
+            payload_data=b"\x00",
+            offset=0,
+        )
+    )
+
+    cmd_in_packet = cw.create(dict(id=uuid4(), type_=cmd_type))
+    cmd_free = cw.create(dict(id=uuid4(), type_=cmd_type))
+    cmd_free2 = cw.create(dict(id=uuid4(), type_=cmd_type))
+
+    pcw.create(dict(packet_id=packet.id, command_id=cmd_in_packet.id))
+
+    result = cw.retrieve_floating_commands()
+    for command in result:
+        assert command.id in [cmd_free.id, cmd_free2.id]
+
+
+def test_retrieve_floating_commands_no_packet_commands():
+    cw = CommandsWrapper()
+    mc = MainCommandWrapper()
+    cmd_type = mc.create(
+        dict(
+            id=2,
+            name="test",
+            data_size=1,
+            total_size=1,
+        )
+    ).id
+
+    cw.create(dict(id=uuid4(), type_=cmd_type))
+    cw.create(dict(id=uuid4(), type_=cmd_type))
+
+    result = cw.retrieve_floating_commands()
+    expected = cw.get_all()
+    assert {c.id for c in result} == {c.id for c in expected}