diff --git a/python/Gait.cpp b/python/Gait.cpp
index d6a765be8840705b573bedc601b5b0d761b7edf3..ce3e31a6afbfc2e41b3eeca17790ef63fc28bf03 100644
--- a/python/Gait.cpp
+++ b/python/Gait.cpp
@@ -15,6 +15,8 @@ struct GaitVisitor : public bp::def_visitor<GaitVisitor<Gait>> {
         .def("is_new_step", &Gait::isNewPhase, "True if new phase of the gait.\n")
         .def("is_static", &Gait::getIsStatic, "True if static gait.\n")
         .def("get_phase_duration", &Gait::getPhaseDuration, bp::args("i", "j"), "Get phase duration.\n")
+        .def("get_elapsed_time", &Gait::getElapsedTime, bp::args("i", "j"),
+             "Get elapsed time of the last computed phase.\n")
         .def("get_remaining_time", &Gait::getRemainingTime, bp::args("i", "j"),
              "Get remaining time of the last computed phase.\n")