Carpenter returned with Vision Racing in 2006 in the No. 20 Dallara-Honda. On March 26, 2006, during the warmup practice session for the season-opening Toyota Indy 300 at Homestead, Carpenter was involved in a crash with Paul Dana, who died soon after from his injuries. Carpenter was reported to be "awake and alert," airlifted to Jackson Memorial Hospital and was released the next day suffering bruised lungs. Carpenter returned to the series for the third race of the season, the Indy Japan 300 at Twin Ring Motegi, starting in 19th place and finishing in 20th place due to a crash after 25 laps. At the Indianapolis 500, Carpenter and his teammates acquired sponsorship from Rock and Republic for the race. Carpenter started in 12th place and ran in the top 10 late in the race; he finished 11th, a lap down, after a late race pit stop. At the following race, the Watkins Glen Indy Grand Prix at Watkins Glen International, Carpenter started in 18th place and finished in 6th place after his team decided to put on rain tires for the wet conditions. At the Firestone Indy 400 at Michigan International Speedway, Carpenter started in 4th place and finished in 7th place. At the season-ending Peak Antifreeze Indy 300 at Chicagoland, Carpenter started in 12th place and finished in 5th place. Carpenter finished the season ranked in 14th place, with 252 points.