restart a failed task sequence

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http://serverfault.com – When using a Task Sequence to reimage a PC, is it possible to restart the Task Sequence if an error occurs during one of the steps from where it failed? The only other options that I'm aware of are to restart the whole Task Sequence, duplicate the Task Sequence and remove the steps that completed, or run the rest of the programs manually. None of those are great options! (HowTos)