diff --git a/src/systems/user_commands/UserCommands.cc b/src/systems/user_commands/UserCommands.cc
index ab32210375..e37928eeb9 100644
--- a/src/systems/user_commands/UserCommands.cc
+++ b/src/systems/user_commands/UserCommands.cc
@@ -1112,13 +1112,14 @@ bool CreateCommand::Execute()
   this->iface->creator->SetParent(entity, this->iface->worldEntity);
 
   // Pose
+  std::optional<math::Pose3d> createPose;
   if (createMsg->has_pose())
   {
-    auto poseComp = this->iface->ecm->Component<components::Pose>(entity);
-    *poseComp = components::Pose(msgs::Convert(createMsg->pose()));
+    createPose = msgs::Convert(createMsg->pose());
   }
+
   // Spherical coordinates
-  else if (createMsg->has_spherical_coordinates())
+  if (createMsg->has_spherical_coordinates())
   {
     auto scComp = this->iface->ecm->Component<components::SphericalCoordinates>(
         this->iface->worldEntity);
@@ -1141,12 +1142,24 @@ bool CreateCommand::Execute()
           math::SphericalCoordinates::SPHERICAL,
           math::SphericalCoordinates::LOCAL2);
 
-      auto poseComp = this->iface->ecm->Component<components::Pose>(entity);
-      *poseComp = components::Pose({pos.X(), pos.Y(), pos.Z(), 0, 0,
-          IGN_DTOR(createMsg->spherical_coordinates().heading_deg())});
+      // Override pos and add to yaw
+      if (!createPose.has_value())
+        createPose = math::Pose3d::Zero;
+      createPose.value().SetX(pos.X());
+      createPose.value().SetY(pos.Y());
+      createPose.value().SetZ(pos.Z());
+      createPose.value().Rot() = math::Quaterniond(0, 0,
+          IGN_DTOR(createMsg->spherical_coordinates().heading_deg())) *
+          createPose.value().Rot();
     }
   }
 
+  if (createPose.has_value())
+  {
+    auto poseComp = this->iface->ecm->Component<components::Pose>(entity);
+    *poseComp = components::Pose(createPose.value());
+  }
+
   igndbg << "Created entity [" << entity << "] named [" << desiredName << "]"
          << std::endl;
 
diff --git a/test/integration/spherical_coordinates.cc b/test/integration/spherical_coordinates.cc
index 5890659086..6f50f269bd 100644
--- a/test/integration/spherical_coordinates.cc
+++ b/test/integration/spherical_coordinates.cc
@@ -273,6 +273,7 @@ TEST_F(SphericalCoordinatesTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateEntity))
   Entity modelEntity{kNullEntity};
   math::SphericalCoordinates worldLatLon;
   math::Vector3d modelLatLon;
+  math::Pose3d modelPose;
   fixture.OnPostUpdate(
     [&](
       const ignition::gazebo::UpdateInfo &,
@@ -291,6 +292,8 @@ TEST_F(SphericalCoordinatesTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateEntity))
         auto modelCoord = sphericalCoordinates(modelEntity, _ecm);
         EXPECT_TRUE(modelCoord);
         modelLatLon = modelCoord.value();
+
+        modelPose = worldPose(modelEntity, _ecm);
       }
 
       iterations++;
@@ -307,13 +310,21 @@ TEST_F(SphericalCoordinatesTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateEntity))
 
   double desiredLat{-23.0};
   double desiredLon{-43.3};
+  double desiredHeading{0.2};
+  double desiredRoll{0.1};
+  double desiredPitch{0.2};
+  double desiredYaw{0.3};
 
   msgs::EntityFactory req;
   req.set_sdf(modelStr);
 
+  msgs::Set(req.mutable_pose(),
+      {0, 0, 0, desiredRoll, desiredPitch, desiredYaw});
+
   auto scMsg = req.mutable_spherical_coordinates();
   scMsg->set_latitude_deg(desiredLat);
   scMsg->set_longitude_deg(desiredLon);
+  scMsg->set_heading_deg(IGN_RTOD(desiredHeading));
 
   msgs::Boolean res;
   bool result;
@@ -338,4 +349,7 @@ TEST_F(SphericalCoordinatesTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(CreateEntity))
   EXPECT_NE(kNullEntity, modelEntity);
   EXPECT_NEAR(modelLatLon.X(), desiredLat, 1e-6);
   EXPECT_NEAR(modelLatLon.Y(), desiredLon, 1e-6);
+  EXPECT_DOUBLE_EQ(modelPose.Rot().Roll(), desiredRoll);
+  EXPECT_DOUBLE_EQ(modelPose.Rot().Pitch(), desiredPitch);
+  EXPECT_DOUBLE_EQ(modelPose.Rot().Yaw(), desiredHeading + desiredYaw);
 }