diff --git a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSPositionDMPController.cpp b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSPositionDMPController.cpp
index 586c4a6b74927019bebf56d068c8944606dacbc7..cb97cb2e8e3171f6a716334e9e8c18d30dd25419 100644
--- a/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSPositionDMPController.cpp
+++ b/source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointJSPositionDMPController.cpp
@@ -219,7 +219,14 @@ namespace armarx
             //            {
             //                targets[dimNames[i]]->velocity = targetJointVels[i];
             //            }        std::map<std::string, ControlTarget1DoFActuatorVelocity*> targets;
-            targets[dimNames[i]]->position = targetJointAngles[i];
+            if (started)
+            {
+                targets[dimNames[i]]->position = targetJointAngles[i];
+            }
+            else
+            {
+                targets[dimNames[i]]->position = qpos[i];
+            }
         }