Baron 58/58TC
Flight Crew Air Transport Pilot (ATP); Flight Crew Flight Instructor; Flight Crew Instrument; Flight Crew Multiengine
Flight Crew Last 90 Days 65; Flight Crew Total 18000; Flight Crew Type 2500
Communication Breakdown; Workload
ATC Issue All Types; Conflict Ground Conflict; Less Severe; Deviation / Discrepancy - Procedural Clearance
Air Traffic Control Issued Advisory / Alert; Flight Crew Landed As Precaution
Airport; Procedure
Training a [passenger] how to land the Baron in case of the pilot having a medical emergency. Flying the LPV GPS approach to Runway XXR with the [passenger] flying the aircraft from 200 ft. to the touchdown. A slower and smaller airplane was 2 miles ahead when we received clearance to land; that aircraft did not clear the runway expeditiously and was just clearing as we crossed the end of the runway. At the very last moment; when the [passenger] was flaring the aircraft at about 25 ft. or lower; the Tower said 'Go around'. I said unable and let the [passenger] finish training and we landed. I could see the other aircraft had cleared the runway; but maybe was not across the hold short line.
BE58 Flight Instructor reported runway incursion and ATC late go around instruction while in landing flare.