diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
index 445ecdb34d623..882150ffc1644 100644
--- a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
+++ b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -243,9 +243,11 @@ trajectory_follower::LateralOutput MpcLateralController::run(
   Trajectory predicted_traj;
   Float32MultiArrayStamped debug_values;
 
-  if (
-    !m_is_ctrl_cmd_prev_initialized ||
-    !input_data.current_operation_mode.is_autoware_control_enabled) {
+  const bool is_under_control = input_data.current_operation_mode.is_autoware_control_enabled &&
+                                input_data.current_operation_mode.mode ==
+                                  autoware_adapi_v1_msgs::msg::OperationModeState::AUTONOMOUS;
+
+  if (!m_is_ctrl_cmd_prev_initialized || !is_under_control) {
     m_ctrl_cmd_prev = getInitialControlCommand();
     m_is_ctrl_cmd_prev_initialized = true;
   }