diff --git a/planning/behavior_velocity_planner/src/utilization/util.cpp b/planning/behavior_velocity_planner/src/utilization/util.cpp
index 5499d4bf12d75..6f688850bd05d 100644
--- a/planning/behavior_velocity_planner/src/utilization/util.cpp
+++ b/planning/behavior_velocity_planner/src/utilization/util.cpp
@@ -217,7 +217,7 @@ void insertVelocity(
     if (
       tier4_autoware_utils::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