diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
index 54c87f45b6..cc7377ec81 100644
--- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
+++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: false
+    use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
     enable_cmd_limit_filter: true
diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
index 652a984ce5..d064f2a2dd 100644
--- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
+++ b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
@@ -7,7 +7,7 @@
     timeout_takeover_request: 10.0
     use_takeover_request: false
     use_parking_after_stopped: false
-    use_comfortable_stop: false
+    use_comfortable_stop: true
 
     # setting whether to turn hazard lamp on for each situation
     turning_hazard_on: