diff --git a/pkg/planner/core/physical_plans.go b/pkg/planner/core/physical_plans.go
index 490aaba00f386..71af98e6bf011 100644
--- a/pkg/planner/core/physical_plans.go
+++ b/pkg/planner/core/physical_plans.go
@@ -1063,25 +1063,36 @@ func ExpandVirtualColumn(columns []*model.ColumnInfo, schema *expression.Schema,
 
 	oldNumColumns := len(schema.Columns)
 	numExtraColumns := 0
+	ordinaryColumnExists := false
 	for i := oldNumColumns - 1; i >= 0; i-- {
 		cid := schema.Columns[i].ID
 		// Move extra columns to the end.
 		// ExtraRowChecksumID is ignored here since it's treated as an ordinary column.
 		// https://github.com/pingcap/tidb/blob/3c407312a986327bc4876920e70fdd6841b8365f/pkg/util/rowcodec/decoder.go#L206-L222
 		if cid != model.ExtraHandleID && cid != model.ExtraPhysTblID {
+			ordinaryColumnExists = true
 			break
 		}
 		numExtraColumns++
 	}
+	if ordinaryColumnExists && numExtraColumns > 0 {
+		extraColumns := make([]*expression.Column, numExtraColumns)
+		copy(extraColumns, schema.Columns[oldNumColumns-numExtraColumns:])
+		schema.Columns = schema.Columns[:oldNumColumns-numExtraColumns]
 
-	extraColumns := make([]*expression.Column, numExtraColumns)
-	copy(extraColumns, schema.Columns[oldNumColumns-numExtraColumns:])
-	schema.Columns = schema.Columns[:oldNumColumns-numExtraColumns]
+		extraColumnModels := make([]*model.ColumnInfo, numExtraColumns)
+		copy(extraColumnModels, copyColumn[len(copyColumn)-numExtraColumns:])
+		copyColumn = copyColumn[:len(copyColumn)-numExtraColumns]
 
-	extraColumnModels := make([]*model.ColumnInfo, numExtraColumns)
-	copy(extraColumnModels, copyColumn[len(copyColumn)-numExtraColumns:])
-	copyColumn = copyColumn[:len(copyColumn)-numExtraColumns]
+		copyColumn = expandVirtualColumn(schema, copyColumn, colsInfo)
+		schema.Columns = append(schema.Columns, extraColumns...)
+		copyColumn = append(copyColumn, extraColumnModels...)
+		return copyColumn
+	}
+	return expandVirtualColumn(schema, copyColumn, colsInfo)
+}
 
+func expandVirtualColumn(schema *expression.Schema, copyColumn []*model.ColumnInfo, colsInfo []*model.ColumnInfo) []*model.ColumnInfo {
 	schemaColumns := schema.Columns
 	for _, col := range schemaColumns {
 		if col.VirtualExpr == nil {
@@ -1096,9 +1107,6 @@ func ExpandVirtualColumn(columns []*model.ColumnInfo, schema *expression.Schema,
 			}
 		}
 	}
-
-	schema.Columns = append(schema.Columns, extraColumns...)
-	copyColumn = append(copyColumn, extraColumnModels...)
 	return copyColumn
 }
 
diff --git a/tests/integrationtest/r/planner/core/issuetest/planner_issue.result b/tests/integrationtest/r/planner/core/issuetest/planner_issue.result
index d1e8d6bc1830c..166db9334cf51 100644
--- a/tests/integrationtest/r/planner/core/issuetest/planner_issue.result
+++ b/tests/integrationtest/r/planner/core/issuetest/planner_issue.result
@@ -765,3 +765,13 @@ KEY `idx_65` (`col_36`(5))
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci;
 with cte_192 ( col_1101,col_1102,col_1103,col_1104 ) AS ( select  /*+ use_index_merge( tl6e913fb9 ) */   replace( tl6e913fb9.col_36 , tl6e913fb9.col_36 , tl6e913fb9.col_36 ) as r0 , space( 0 ) as r1 , min( distinct  tl6e913fb9.col_36 ) as r2 , count( distinct  tl6e913fb9.col_36 ) as r3 from tl6e913fb9 where tl6e913fb9.col_36 between 'n92ok$B%W#UU%O' and '()c=KVQ=T%-vzGJ' and tl6e913fb9.col_36 in ( 'T+kf' ,'Lvluod2H' ,'3#Omx@pC^fFkeH' ,'=b$z' ) group by tl6e913fb9.col_36  having tl6e913fb9.col_36 = 'xjV@' or IsNull( tl6e913fb9.col_36 ) ) ( select 1,col_1101,col_1102,col_1103,col_1104 from cte_192 where not( IsNull( cte_192.col_1102 ) ) order by 1,2,3,4,5 limit 72850972 );
 1	col_1101	col_1102	col_1103	col_1104
+drop table if exists t;
+create table t (id int unique key, c int);
+insert into t values (1, 10);
+insert into t values (2, 20);
+insert into t values (3, 30);
+select _tidb_rowid from t where id in (1, 2, 3);
+_tidb_rowid
+1
+2
+3
diff --git a/tests/integrationtest/t/planner/core/issuetest/planner_issue.test b/tests/integrationtest/t/planner/core/issuetest/planner_issue.test
index ae4b848059204..99259bf18d56f 100644
--- a/tests/integrationtest/t/planner/core/issuetest/planner_issue.test
+++ b/tests/integrationtest/t/planner/core/issuetest/planner_issue.test
@@ -534,3 +534,11 @@ CREATE TABLE `tl6e913fb9` (
   KEY `idx_65` (`col_36`(5))
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci;
 with cte_192 ( col_1101,col_1102,col_1103,col_1104 ) AS ( select  /*+ use_index_merge( tl6e913fb9 ) */   replace( tl6e913fb9.col_36 , tl6e913fb9.col_36 , tl6e913fb9.col_36 ) as r0 , space( 0 ) as r1 , min( distinct  tl6e913fb9.col_36 ) as r2 , count( distinct  tl6e913fb9.col_36 ) as r3 from tl6e913fb9 where tl6e913fb9.col_36 between 'n92ok$B%W#UU%O' and '()c=KVQ=T%-vzGJ' and tl6e913fb9.col_36 in ( 'T+kf' ,'Lvluod2H' ,'3#Omx@pC^fFkeH' ,'=b$z' ) group by tl6e913fb9.col_36  having tl6e913fb9.col_36 = 'xjV@' or IsNull( tl6e913fb9.col_36 ) ) ( select 1,col_1101,col_1102,col_1103,col_1104 from cte_192 where not( IsNull( cte_192.col_1102 ) ) order by 1,2,3,4,5 limit 72850972 );
+
+# TestIssue58581
+drop table if exists t;
+create table t (id int unique key, c int);
+insert into t values (1, 10);
+insert into t values (2, 20);
+insert into t values (3, 30);
+select _tidb_rowid from t where id in (1, 2, 3);