Two closely spaced 778 nm, 4-ps pulses, two-photon resonant with the 5S-5D transition in Rb vapor generate a ground state grating, which later is excited by a similar third pulse, producing conical yoked superfluorescence echo on the 5S-6P, 420-nm transition. The intensity of this emission as a function of the relative delay between the leading excitation pulses is governed by the dynamics of Doppler dephasing and rephasing. This is the first observation of an echo effect induced by a spontaneous relaxation process.