diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 1134ea799d21a3dc99b351e3c63fd1e52115901e..92da083130b6716591a46464b3cf53d27866c0c0 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/ur_driver/src/ur_driver/driver.py
@@ -759,7 +759,7 @@ class URTrajectoryFollower(object):
 
             # Inserts the current setpoint at the head of the trajectory
             now = time.time()
-            point0 = sample_traj(self.traj, now)
+            point0 = sample_traj(self.traj, now - self.traj_t0)
             point0.time_from_start = rospy.Duration(0.0)
             goal_handle.get_goal().trajectory.points.insert(0, point0)
             self.traj_t0 = now