diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index 58afd67a77f14..f9d98b0241629 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -788,6 +788,9 @@ Path BehaviorPathPlannerNode::convertToPath(
   }
 
   output = util::toPath(*path_candidate_ptr);
+  // header is replaced by the input one, so it is substituted again
+  output.header = planner_data_->route_handler->getRouteHeader();
+  output.header.stamp = this->now();
 
   if (!is_ready) {
     for (auto & point : output.points) {