diff --git a/nav2_docking/opennav_docking/src/docking_server.cpp b/nav2_docking/opennav_docking/src/docking_server.cpp
index 52b9ad9d86..8d40b151b5 100644
--- a/nav2_docking/opennav_docking/src/docking_server.cpp
+++ b/nav2_docking/opennav_docking/src/docking_server.cpp
@@ -417,16 +417,12 @@ bool DockingServer::approachDock(Dock * dock, geometry_msgs::msg::PoseStamped &
 
     // Make sure that the target pose is pointing at the robot when moving backwards
     // This is to ensure that the robot doesn't try to dock from the wrong side
-    if (dock_backwards_) {
-      target_pose.pose.orientation = nav2_util::geometry_utils::orientationAroundZAxis(
-        tf2::getYaw(target_pose.pose.orientation) + M_PI);
-    }
 
     // The control law can get jittery when close to the end when atan2's can explode.
     // Thus, we backward project the controller's target pose a little bit after the
     // dock so that the robot never gets to the end of the spiral before its in contact
     // with the dock to stop the docking procedure.
-    const double backward_projection = 0.25;
+    const double backward_projection = dock_backwards_ ? -0.25 : 0.25;
     const double yaw = tf2::getYaw(target_pose.pose.orientation);
     target_pose.pose.position.x += cos(yaw) * backward_projection;
     target_pose.pose.position.y += sin(yaw) * backward_projection;