diff --git a/django/forms/boundfield.py b/django/forms/boundfield.py
index 98ac5b8208c..d56fa0ea3e1 100644
--- a/django/forms/boundfield.py
+++ b/django/forms/boundfield.py
@@ -296,9 +296,10 @@ class BoundField(RenderableFieldMixin):
             not attrs.get("aria-describedby")
             and not widget.attrs.get("aria-describedby")
             and self.field.help_text
-            and self.id_for_label
+            and not self.use_fieldset
+            and self.auto_id
         ):
-            attrs["aria-describedby"] = f"{self.id_for_label}_helptext"
+            attrs["aria-describedby"] = f"{self.auto_id}_helptext"
         return attrs
 
     @property
diff --git a/django/forms/jinja2/django/forms/field.html b/django/forms/jinja2/django/forms/field.html
index c8943d9481e..21035b72e46 100644
--- a/django/forms/jinja2/django/forms/field.html
+++ b/django/forms/jinja2/django/forms/field.html
@@ -4,7 +4,7 @@
 {% else %}
   {% if field.label %}{{ field.label_tag() }}{% endif %}
 {% endif %}
-{% if field.help_text %}<div class="helptext"{% if field.id_for_label %} id="{{ field.id_for_label}}_helptext"{% endif %}>{{ field.help_text|safe }}</div>{% endif %}
+{% if field.help_text %}<div class="helptext"{% if field.auto_id %} id="{{ field.auto_id }}_helptext"{% endif %}>{{ field.help_text|safe }}</div>{% endif %}
 {{ field.errors }}
 {{ field }}
 {% if field.use_fieldset %}</fieldset>{% endif %}
diff --git a/django/forms/jinja2/django/forms/p.html b/django/forms/jinja2/django/forms/p.html
index 4db46058b52..a7d0098b447 100644
--- a/django/forms/jinja2/django/forms/p.html
+++ b/django/forms/jinja2/django/forms/p.html
@@ -8,7 +8,7 @@
     {% if field.label %}{{ field.label_tag() }}{% endif %}
     {{ field }}
     {% if field.help_text %}
-      <span class="helptext"{% if field.id_for_label %} id="{{ field.id_for_label}}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
+      <span class="helptext"{% if field.auto_id %} id="{{ field.auto_id }}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
     {% endif %}
     {% if loop.last %}
       {% for field in hidden_fields %}{{ field }}{% endfor %}
diff --git a/django/forms/jinja2/django/forms/table.html b/django/forms/jinja2/django/forms/table.html
index 18fa63f8a7c..a817d555224 100644
--- a/django/forms/jinja2/django/forms/table.html
+++ b/django/forms/jinja2/django/forms/table.html
@@ -16,7 +16,7 @@
       {{ field }}
       {% if field.help_text %}
         <br>
-        <span class="helptext"{% if field.id_for_label %} id="{{ field.id_for_label}}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
+        <span class="helptext"{% if field.auto_id %} id="{{ field.auto_id }}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
       {% endif %}
       {% if loop.last %}
         {% for field in hidden_fields %}{{ field }}{% endfor %}
diff --git a/django/forms/jinja2/django/forms/ul.html b/django/forms/jinja2/django/forms/ul.html
index 42c46847fdb..9514e09729d 100644
--- a/django/forms/jinja2/django/forms/ul.html
+++ b/django/forms/jinja2/django/forms/ul.html
@@ -12,7 +12,7 @@
     {% if field.label %}{{ field.label_tag() }}{% endif %}
     {{ field }}
     {% if field.help_text %}
-      <span class="helptext"{% if field.id_for_label %} id="{{ field.id_for_label}}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
+      <span class="helptext"{% if field.auto_id %} id="{{ field.auto_id }}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
     {% endif %}
     {% if loop.last %}
       {% for field in hidden_fields %}{{ field }}{% endfor %}
diff --git a/django/forms/templates/django/forms/field.html b/django/forms/templates/django/forms/field.html
index 72fb357b71c..f8b0cdedd56 100644
--- a/django/forms/templates/django/forms/field.html
+++ b/django/forms/templates/django/forms/field.html
@@ -4,7 +4,7 @@
 {% else %}
   {% if field.label %}{{ field.label_tag }}{% endif %}
 {% endif %}
-{% if field.help_text %}<div class="helptext"{% if field.id_for_label %} id="{{ field.id_for_label}}_helptext"{% endif %}>{{ field.help_text|safe }}</div>{% endif %}
+{% if field.help_text %}<div class="helptext"{% if field.auto_id %} id="{{ field.auto_id }}_helptext"{% endif %}>{{ field.help_text|safe }}</div>{% endif %}
 {{ field.errors }}
 {{ field }}
 {% if field.use_fieldset %}</fieldset>{% endif %}
diff --git a/django/forms/templates/django/forms/p.html b/django/forms/templates/django/forms/p.html
index 829c42eca6a..89f0a2ba03f 100644
--- a/django/forms/templates/django/forms/p.html
+++ b/django/forms/templates/django/forms/p.html
@@ -8,7 +8,7 @@
     {% if field.label %}{{ field.label_tag }}{% endif %}
     {{ field }}
     {% if field.help_text %}
-      <span class="helptext"{% if field.id_for_label %} id="{{ field.id_for_label}}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
+      <span class="helptext"{% if field.auto_id %} id="{{ field.auto_id }}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
     {% endif %}
     {% if forloop.last %}
       {% for field in hidden_fields %}{{ field }}{% endfor %}
diff --git a/django/forms/templates/django/forms/table.html b/django/forms/templates/django/forms/table.html
index 5d41bc44026..4fbd3b9899e 100644
--- a/django/forms/templates/django/forms/table.html
+++ b/django/forms/templates/django/forms/table.html
@@ -16,7 +16,7 @@
       {{ field }}
       {% if field.help_text %}
         <br>
-        <span class="helptext"{% if field.id_for_label %} id="{{ field.id_for_label}}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
+        <span class="helptext"{% if field.auto_id %} id="{{ field.auto_id }}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
       {% endif %}
       {% if forloop.last %}
         {% for field in hidden_fields %}{{ field }}{% endfor %}
diff --git a/django/forms/templates/django/forms/ul.html b/django/forms/templates/django/forms/ul.html
index 7383b962357..d78a79aeca9 100644
--- a/django/forms/templates/django/forms/ul.html
+++ b/django/forms/templates/django/forms/ul.html
@@ -12,7 +12,7 @@
     {% if field.label %}{{ field.label_tag }}{% endif %}
     {{ field }}
     {% if field.help_text %}
-      <span class="helptext"{% if field.id_for_label %} id="{{ field.id_for_label}}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
+      <span class="helptext"{% if field.auto_id %} id="{{ field.auto_id }}_helptext"{% endif %}>{{ field.help_text|safe }}</span>
     {% endif %}
     {% if forloop.last %}
       {% for field in hidden_fields %}{{ field }}{% endfor %}
diff --git a/docs/ref/forms/fields.txt b/docs/ref/forms/fields.txt
index df9732f1af0..9dff2d4007f 100644
--- a/docs/ref/forms/fields.txt
+++ b/docs/ref/forms/fields.txt
@@ -283,9 +283,9 @@ fields. We've specified ``auto_id=False`` to simplify the output:
     <div>Sender:<div class="helptext">A valid email address, please.</div><input type="email" name="sender" required></div>
     <div>Cc myself:<input type="checkbox" name="cc_myself"></div>
 
-When a field has help text and :attr:`~django.forms.BoundField.id_for_label`
-returns a value, we associate ``help_text`` with the input using the
-``aria-describedby`` HTML attribute:
+When a field has help text and the widget is not rendered in a ``<fieldset>``,
+``aria-describedby`` is added to the ``<input>`` to associate it to the
+help text:
 
 .. code-block:: pycon
 
diff --git a/docs/releases/5.0.txt b/docs/releases/5.0.txt
index db75a6b0a39..269e3b382e7 100644
--- a/docs/releases/5.0.txt
+++ b/docs/releases/5.0.txt
@@ -61,7 +61,7 @@ For example, the template below:
     <div>
       {{ form.name.label_tag }}
       {% if form.name.help_text %}
-        <div class="helptext" id="{{ form.name.id_for_label }}_helptext">
+        <div class="helptext" id="{{ form.name.auto_id }}_helptext">
           {{ form.name.help_text|safe }}
         </div>
       {% endif %}
@@ -71,7 +71,7 @@ For example, the template below:
         <div class="col">
           {{ form.email.label_tag }}
           {% if form.email.help_text %}
-            <div class="helptext" id="{{ form.email.id_for_label }}_helptext">
+            <div class="helptext" id="{{ form.email.auto_id }}_helptext">
               {{ form.email.help_text|safe }}
             </div>
           {% endif %}
@@ -81,7 +81,7 @@ For example, the template below:
         <div class="col">
           {{ form.password.label_tag }}
           {% if form.password.help_text %}
-            <div class="helptext" id="{{ form.password.id_for_label }}_helptext">
+            <div class="helptext" id="{{ form.password.auto_id }}_helptext">
               {{ form.password.help_text|safe }}
             </div>
           {% endif %}
diff --git a/docs/topics/forms/index.txt b/docs/topics/forms/index.txt
index 7b27e98996c..55d032c9bb4 100644
--- a/docs/topics/forms/index.txt
+++ b/docs/topics/forms/index.txt
@@ -723,7 +723,7 @@ loop:
             {{ field.errors }}
             {{ field.label_tag }} {{ field }}
             {% if field.help_text %}
-              <p class="help" id="{{ field.id_for_label }}_helptext">
+              <p class="help" id="{{ field.auto_id }}_helptext">
                 {{ field.help_text|safe }}
               </p>
             {% endif %}