**Apache Airflow version**: 2.0.0rc3

**Kubernetes version (if you are using kubernetes)** (use `kubectl version`):

**Environment**:

- **Cloud provider or hardware configuration**: Linux
- **OS** (e.g. from /etc/os-release): Ubuntu
- **Kernel** (e.g. `uname -a`): 
- **Install tools**:
- **Others**:

**What happened**:

After shutting down the scheduler, while tasks were in running state, trying to restart the scheduler results in pk violations..

```[2020-12-15 22:43:29,673] {scheduler_job.py:1293} ERROR - Exception when executing SchedulerJob._run_scheduler_loop
Traceback (most recent call last):
  File "/home/jcoder/git/airflow_2.0/pyenv/lib/python3.7/site-packages/sqlalchemy/engine/base.py", line 1277, in _execute_context
    cursor, statement, parameters, context
  File "/home/jcoder/git/airflow_2.0/pyenv/lib/python3.7/site-packages/sqlalchemy/engine/default.py", line 593, in do_execute
    cursor.execute(statement, parameters)
psycopg2.errors.UniqueViolation: duplicate key value violates unique constraint "dag_run_dag_id_run_id_key"
DETAIL:  Key (dag_id, run_id)=(example_task_group, scheduled__2020-12-14T04:31:00+00:00) already exists.
```


**What you expected to happen**:

Scheduler restarts and picks up where it left off.

**How to reproduce it**:

Set example dag ( I used task_group) to schedule_interval `* * * * *` and start the scheduler and let it run for a few minutes. 
Shut down the scheduler
Attempt to restart the scheduler

**Anything else we need to know**:
I came across this doing testing using the LocalExecutor in a virtual env. If no else is able to reproduce it, I'll try again in a clean virtual env.

airflow/models/dagbag.py
"""
        Adds the DAG into the bag, recurses into sub dags.
        Throws AirflowDagCycleException if a cycle is detected in this dag or its subdags
        """
        test_cycle(dag)  
        dag.resolve_template_files()
        dag.last_loaded = timezone.utcnow()
        
        settings.dag_policy(dag)
        for task in dag.tasks:
            settings.task_policy(task)
        subdags = dag.subdags
        try:
            for subdag in subdags:
                subdag.full_filepath = dag.full_filepath
                subdag.parent_dag = dag
                subdag.is_subdag = True
                self.bag_dag(dag=subdag, root_dag=root_dag)