diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp
index 5892dfe687e..419975180b5 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/models/optimizer_settings.hpp
@@ -31,6 +31,7 @@ struct OptimizerSettings
   models::ControlConstraints constraints{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f};
   models::SamplingStd sampling_std{0.0f, 0.0f, 0.0f};
   float model_dt{0.0f};
+  float model_delay{0.0f};
   float temperature{0.0f};
   float gamma{0.0f};
   unsigned int batch_size{0u};
diff --git a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
index 5741313a213..dafdd612f9e 100644
--- a/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
+++ b/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp
@@ -60,10 +60,12 @@ class MotionModel
     * @param control_constraints Constraints on control
     * @param model_dt duration of a time step
     */
-  void initialize(const models::ControlConstraints & control_constraints, float model_dt)
+  void initialize(const models::ControlConstraints & control_constraints, float model_dt,
+    float model_delay)
   {
     control_constraints_ = control_constraints;
     model_dt_ = model_dt;
+    model_delay_ = model_delay;
   }
 
   /**
@@ -116,6 +118,25 @@ class MotionModel
         state.vy.col(i) = state.cvy.col(i - 1);
       }
     }
+
+    // Apply model delay
+    if(model_delay_ == 0.0) {return;}
+    unsigned int offset = std::floor((model_delay_ / model_dt_) + 0.5);
+    auto state_copy = state;
+    for (unsigned int i = 0; i != state.vx.shape(0); i++) {
+      for (unsigned int j = 1; j != state.vx.shape(1); j++) {
+        // Keep the first value before delay (because we cannot do better)
+        if (j < offset) {
+          state.vx(i, j) = state_copy.vx(i, 0);
+          state.wz(i, j) = state_copy.wz(i, 0);
+          if (is_holo) {state.vy(i, j) = state_copy.vy(i, 0);}
+        } else { // move the command to express delay
+          state.vx(i, j) = state_copy.vx(i, j - offset);
+          state.wz(i, j) = state_copy.wz(i, j - offset);
+          if (is_holo) {state.vy(i, j) = state_copy.vy(i, j - offset);}
+        }
+      }
+    }
   }
 
   /**
@@ -132,6 +153,7 @@ class MotionModel
 
 protected:
   float model_dt_{0.0};
+  float model_delay_{0.0};
   models::ControlConstraints control_constraints_{0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f,
     0.0f, 0.0f};
 };
diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp
index c16c953d90d..f19d79a5ff5 100644
--- a/nav2_mppi_controller/src/optimizer.cpp
+++ b/nav2_mppi_controller/src/optimizer.cpp
@@ -102,6 +102,7 @@ void Optimizer::getParams()
   }
 
   getParam(s.model_dt, "model_dt", 0.05f);
+  getParam(s.model_delay, "model_delay", 0.0f);
   getParam(s.time_steps, "time_steps", 56);
   getParam(s.batch_size, "batch_size", 1000);
   getParam(s.iteration_count, "iteration_count", 1);
@@ -192,7 +193,7 @@ void Optimizer::reset(bool reset_dynamic_speed_limits)
   generated_trajectories_.reset(settings_.batch_size, settings_.time_steps);
 
   noise_generator_.reset(settings_, isHolonomic());
-  motion_model_->initialize(settings_.constraints, settings_.model_dt);
+  motion_model_->initialize(settings_.constraints, settings_.model_dt, settings_.model_delay);
   trajectory_validator_->initialize(
     parent_, name_ + ".TrajectoryValidator",
     costmap_ros_, parameters_handler_, tf_buffer_, settings_);
@@ -590,7 +591,7 @@ void Optimizer::setMotionModel(const std::string & model)
               "Model " + model + " is not valid! Valid options are DiffDrive, Omni, "
               "or Ackermann"));
   }
-  motion_model_->initialize(settings_.constraints, settings_.model_dt);
+  motion_model_->initialize(settings_.constraints, settings_.model_dt, settings_.model_delay);
 }
 
 void Optimizer::setSpeedLimit(double speed_limit, bool percentage)