diff --git a/nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp b/nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
index dba72182fe..1a13eb00c1 100644
--- a/nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
+++ b/nav2_rotation_shim_controller/include/nav2_rotation_shim_controller/nav2_rotation_shim_controller.hpp
@@ -103,6 +103,11 @@ class RotationShimController : public nav2_core::Controller
    */
   void setSpeedLimit(const double & speed_limit, const bool & percentage) override;
 
+  /**
+   * @brief Reset the state of the controller
+   */
+  void reset() override;
+
 protected:
   /**
    * @brief Finds the point on the path that is roughly the sampling
diff --git a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
index 2abddb10a3..1d8e3d5da6 100644
--- a/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
+++ b/nav2_rotation_shim_controller/src/nav2_rotation_shim_controller.cpp
@@ -388,6 +388,12 @@ void RotationShimController::setSpeedLimit(const double & speed_limit, const boo
   primary_controller_->setSpeedLimit(speed_limit, percentage);
 }
 
+void RotationShimController::reset()
+{
+  last_angular_vel_ = std::numeric_limits<double>::max();
+  primary_controller_->reset();
+}
+
 rcl_interfaces::msg::SetParametersResult
 RotationShimController::dynamicParametersCallback(std::vector<rclcpp::Parameter> parameters)
 {