diff --git a/src/Gait.cpp b/src/Gait.cpp
index d8c37d82f658aaf0d7eca4dcc4a59143ca9ffa30..4554558899658c15ceba211667cf5ddbc5dc42e0 100644
--- a/src/Gait.cpp
+++ b/src/Gait.cpp
@@ -25,6 +25,7 @@ void Gait::initialize(Params& params) {
 
   // Fill currrent gait matrix
   currentGait_ = desiredGait_;
+  pastGait_ = desiredGait_.colwise().reverse();
 }
 
 void Gait::create_walk() {