Techniques are described related to prior context retrieval with an automated assistant. In various implementations, instance(s) of free-form natural language input received from a user during a human-to-computer dialog session between the user and an automated assistant may be used to generate a first dialog context. The first dialog context may include intent(s) and slot value(s) associated with the intent(s). Similar operations may be performed with additional inputs to generate a second dialog context that is semantically distinct from the first dialog context. When a command is received from the user to transition the automated assistant back to the first dialog context, natural language output may be generated that conveys at least one or more of the intents of the first dialog context and one or more of the slot values of the first dialog context. This natural language output may be presented to the user.