diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
index ec7a7fc5e81..d694f90ea87 100644
--- a/nav2_docking/opennav_docking/src/docking_server.cpp
+++ b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -321,6 +321,7 @@ void DockingServer::dockRobot()
           // We are docked, wait for charging to begin
           RCLCPP_INFO(
             get_logger(), "Made contact with dock, waiting for charge to start (if applicable).");
+          publishZeroVelocity();
           if (waitForCharge(dock)) {
             if (dock->plugin->isCharger()) {
               RCLCPP_INFO(get_logger(), "Robot is charging!");