StepDefinition implements the various hooks to restricts the execution of scenarios which has failed steps along with custom exception message.

StepDefinition.java

package com.ctl.it.qa.sample.tests;

import cucumber.api.Scenario;
import cucumber.api.java.After;
import cucumber.api.java.Before;
import net.serenitybdd.core.Serenity;
import net.thucydides.core.annotations.Steps;
import java.lang.reflect.Field;
import java.util.HashSet;
import java.util.List;
import java.util.Set;
import cucumber.api.TestCase;
import cucumber.api.java.AfterStep;
import cucumber.api.*;

public class StepDefinition {
	final static Set<String> failedSteps = new HashSet<String>();

	@Before
	public void beforeEveryScenario(Scenario scenario) throws NoSuchFieldException, SecurityException, IllegalArgumentException, IllegalAccessException, alreadyFailedTestStep {
		excludeScenarioWithFailedStep(scenario);
	}

	@AfterStep
	public void trackStep(Scenario scenario)
			throws NoSuchFieldException, SecurityException, IllegalArgumentException, IllegalAccessException {
		if (scenario.isFailed()) {
			failedSteps.add(GetTestStepName.currentStepName);
		}
	}

	@After
	public void afterEveryScenario(Scenario scenario) {
	
	}

	void excludeScenarioWithFailedStep(Scenario scenario) throws NoSuchFieldException, SecurityException,
			IllegalArgumentException, IllegalAccessException, alreadyFailedTestStep {
      
		Set<String> tempScenarioSteps = new HashSet<String>();
		Field testCaseField = scenario.getClass().getDeclaredField("testCase");
		testCaseField.setAccessible(true);
		TestCase tc = (TestCase) testCaseField.get(scenario);
		Field testSteps = tc.getClass().getDeclaredField("testSteps");
		testSteps.setAccessible(true);
		List<TestStep> teststeps = tc.getTestSteps();
    
        for (int i = 0; i < teststeps.size(); i++) {
          try {
            PickleStepTestStep pts = (PickleStepTestStep) teststeps.get(i);
            tempScenarioSteps.add(pts.getStepText());
          } catch (Exception ignore) {
          }
        }

        long count = failedSteps.stream().filter(tempstring -> {
          return tempScenarioSteps.stream().anyMatch(tempstring2 -> {
            return tempstring.equals(tempstring2);
          });
        }).count();
        
        if (count > 0)
          throw new alreadyFailedTestStep("This scenario contains already failed step");
	}
}

@SuppressWarnings("serial")
class alreadyFailedTestStep extends Exception {
	public alreadyFailedTestStep(String s) {
		super(s);
	}
}