diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/health/NoSuchHealthContributorFailureAnalyzer.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/health/NoSuchHealthContributorFailureAnalyzer.java
new file mode 100644
index 00000000000..26266526825
--- /dev/null
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/java/org/springframework/boot/actuate/autoconfigure/health/NoSuchHealthContributorFailureAnalyzer.java
@@ -0,0 +1,38 @@
+/*
+ * Copyright 2012-2023 the original author or authors.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.springframework.boot.actuate.autoconfigure.health;
+
+import org.springframework.boot.actuate.autoconfigure.health.HealthEndpointConfiguration.HealthEndpointGroupMembershipValidator.NoSuchHealthContributorException;
+import org.springframework.boot.diagnostics.AbstractFailureAnalyzer;
+import org.springframework.boot.diagnostics.FailureAnalysis;
+
+/**
+ * An {@link AbstractFailureAnalyzer} that performs analysis of failures caused by a
+ * {@link NoSuchHealthContributorException}.
+ *
+ * @author Moritz Halbritter
+ */
+class NoSuchHealthContributorFailureAnalyzer extends AbstractFailureAnalyzer<NoSuchHealthContributorException> {
+
+	@Override
+	protected FailureAnalysis analyze(Throwable rootFailure, NoSuchHealthContributorException cause) {
+		return new FailureAnalysis(cause.getMessage(),
+				"Update your application to correct the invalid configuration.\nYou can also set 'management.endpoint.health.validate-group-membership' to false to disable the validation.",
+				cause);
+	}
+
+}
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/resources/META-INF/spring.factories b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/resources/META-INF/spring.factories
index 7d4fdd7b405..4ecd02ee568 100644
--- a/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/resources/META-INF/spring.factories
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/main/resources/META-INF/spring.factories
@@ -1,3 +1,4 @@
 # Failure Analyzers
 org.springframework.boot.diagnostics.FailureAnalyzer=\
-org.springframework.boot.actuate.autoconfigure.metrics.ValidationFailureAnalyzer
+org.springframework.boot.actuate.autoconfigure.metrics.ValidationFailureAnalyzer,\
+org.springframework.boot.actuate.autoconfigure.health.NoSuchHealthContributorFailureAnalyzer
diff --git a/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/health/NoSuchHealthContributorFailureAnalyzerTests.java b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/health/NoSuchHealthContributorFailureAnalyzerTests.java
new file mode 100644
index 00000000000..6ce31bbf0cd
--- /dev/null
+++ b/spring-boot-project/spring-boot-actuator-autoconfigure/src/test/java/org/springframework/boot/actuate/autoconfigure/health/NoSuchHealthContributorFailureAnalyzerTests.java
@@ -0,0 +1,63 @@
+/*
+ * Copyright 2012-2023 the original author or authors.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      https://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+package org.springframework.boot.actuate.autoconfigure.health;
+
+import java.util.concurrent.atomic.AtomicReference;
+
+import org.junit.jupiter.api.Test;
+
+import org.springframework.boot.actuate.autoconfigure.health.HealthEndpointConfiguration.HealthEndpointGroupMembershipValidator.NoSuchHealthContributorException;
+import org.springframework.boot.autoconfigure.AutoConfigurations;
+import org.springframework.boot.diagnostics.FailureAnalysis;
+import org.springframework.boot.test.context.runner.ApplicationContextRunner;
+
+import static org.assertj.core.api.Assertions.assertThat;
+
+/**
+ * Tests for {@link NoSuchHealthContributorFailureAnalyzer}.
+ *
+ * @author Moritz Halbritter
+ */
+class NoSuchHealthContributorFailureAnalyzerTests {
+
+	private final ApplicationContextRunner runner = new ApplicationContextRunner()
+		.withConfiguration(AutoConfigurations.of(HealthEndpointAutoConfiguration.class));
+
+	@Test
+	void analyzesMissingRequiredConfiguration() throws Throwable {
+		FailureAnalysis analysis = new NoSuchHealthContributorFailureAnalyzer().analyze(createFailure());
+		assertThat(analysis).isNotNull();
+		assertThat(analysis.getDescription())
+			.isEqualTo("Included health contributor 'dummy' in group 'readiness' does not exist");
+		assertThat(analysis.getAction()).isEqualTo("Update your application to correct the invalid configuration.\n"
+				+ "You can also set 'management.endpoint.health.validate-group-membership' to false to disable the validation.");
+	}
+
+	private Throwable createFailure() throws Throwable {
+		AtomicReference<Throwable> failure = new AtomicReference<>();
+		this.runner.withPropertyValues("management.endpoint.health.group.readiness.include=dummy").run((context) -> {
+			assertThat(context).hasFailed();
+			failure.set(context.getStartupFailure());
+		});
+		Throwable throwable = failure.get();
+		if (throwable instanceof NoSuchHealthContributorException) {
+			return throwable;
+		}
+		throw throwable;
+	}
+
+}