Palmer amaranth is the most troublesome weed of soybean in the southern United States. Field experiments were conducted at two Arkansas locations to determine the effect of drill-seeded soybean density on Palmer amaranth emergence. Experimental factors were multiple soybean seeding rates planted on a 19-cm-wide row spacing and the presence or absence of a PRE residual herbicide (flumioxazin plus pyroxasulfone). Soybean groundcover was measured throughout the growing season and daily soil temperature was recorded in selected soybean densities. In the absence of a PRE residual herbicide, at least a 1.7-fold reduction in Palmer amaranth emergence occurred when soybean were present. Differences in Palmer amaranth emergence occurred among soybean densities for both locations, suggesting the value of crop canopy in preventing Palmer amaranth emergence in the absence of an effective residual herbicide. In plots treated with the PRE herbicide, no difference in Palmer amaranth emergence occurred among soybean densities, except for the absence of soybean. Achievement of 95% groundcover by soybean reduced daily soil temperature fluctuations, which in turn reduced Palmer amaranth emergence. For both locations, soybean grain yields were greatest at the highest seeding rate (617,500 seed ha−1). In the presence of flumioxazin plus pyroxasulfone applied PRE, greater grain yields occurred compared to the absence of a PRE herbicide at both Fayetteville and Marianna. Based on this research, an effective PRE-applied residual herbicide has more influence on Palmer amaranth emergence than soybean density, and Palmer amaranth germination and emergence are dependent upon daily soil temperature fluctuations, which is a function of soybean density.