diff --git a/planning/behavior_velocity_planner/src/utilization/util.cpp b/planning/behavior_velocity_planner/src/utilization/util.cpp
index f3e9c0591b7e2..1ed17cd4be341 100644
--- a/planning/behavior_velocity_planner/src/utilization/util.cpp
+++ b/planning/behavior_velocity_planner/src/utilization/util.cpp
@@ -212,7 +212,7 @@ void insertVelocity(
     std::min(static_cast<int>(insert_index + 1), static_cast<int>(path.points.size() - 1));
   for (int i = min_idx; i <= max_idx; i++) {
     if (calcDistance2d(path.points.at(static_cast<size_t>(i)), path_point) < min_distance) {
-      path.points.at(i).point.longitudinal_velocity_mps = 0;
+      path.points.at(i).point.longitudinal_velocity_mps = v;
       already_has_path_point = true;
       insert_index = static_cast<size_t>(i);
       // set velocity from is going to insert min velocity later