diff --git a/walk/include/walk/walk.hpp b/walk/include/walk/walk.hpp
index 60bff0b..9ae7cac 100644
--- a/walk/include/walk/walk.hpp
+++ b/walk/include/walk/walk.hpp
@@ -68,6 +68,7 @@ class Walk : public rclcpp::Node
   void walk(const geometry_msgs::msg::Twist & commanded_twist);
   void notifyPhase(const biped_interfaces::msg::Phase & phase);
   void imuCallback(const sensor_msgs::msg::Imu & imu);
+  void calculateNewStep(const biped_interfaces::msg::Phase& phase);
   void generateCommand();
   void phaseCallback(const biped_interfaces::msg::Phase::SharedPtr msg);
   void targetCallback(const geometry_msgs::msg::Twist::SharedPtr msg);
@@ -77,7 +78,6 @@ class Walk : public rclcpp::Node
 
   // State variables
   biped_interfaces::msg::Phase phase_;
-  walk_interfaces::msg::FeetTrajectoryPoint ftp_current_;
   geometry_msgs::msg::Twist curr_twist_;
   float filtered_gyro_y_ = 0.0;
 
diff --git a/walk/src/step_state.cpp b/walk/src/step_state.cpp
index 82914e8..6dd5192 100644
--- a/walk/src/step_state.cpp
+++ b/walk/src/step_state.cpp
@@ -21,10 +21,20 @@ StepState::StepState(const walk_interfaces::msg::Step & step)
 
 bool StepState::done()
 {
-  return i == step.points.size();
+  return i >= (step.points.size() - 1);
+}
+
+double StepState::progressRatio()
+{
+  return static_cast<double>(i) / (step.points.size() - 1);
 }
 
 const walk_interfaces::msg::FeetTrajectoryPoint & StepState::next()
 {
-  return step.points.at(i++);
+  return step.points.at(++i);
+}
+
+const walk_interfaces::msg::FeetTrajectoryPoint & StepState::current()
+{
+  return step.points.at(i);
 }
diff --git a/walk/src/step_state.hpp b/walk/src/step_state.hpp
index e9ae4f7..6635168 100644
--- a/walk/src/step_state.hpp
+++ b/walk/src/step_state.hpp
@@ -22,7 +22,9 @@ class StepState
 public:
   explicit StepState(const walk_interfaces::msg::Step & step);
   bool done();
+  double progressRatio();
   const walk_interfaces::msg::FeetTrajectoryPoint & next();
+  const walk_interfaces::msg::FeetTrajectoryPoint & current();
 
 private:
   const walk_interfaces::msg::Step step;
diff --git a/walk/src/walk.cpp b/walk/src/walk.cpp
index 2916af8..bf92fcc 100644
--- a/walk/src/walk.cpp
+++ b/walk/src/walk.cpp
@@ -100,6 +100,14 @@ void Walk::walk(const geometry_msgs::msg::Twist & commanded_twist)
     commanded_twist.angular.x, commanded_twist.angular.y, commanded_twist.angular.z);
 
   target_twist_ = twist_limiter::limit(params_->twist_limiter_, commanded_twist);
+
+  if (!step_)
+  {
+    RCLCPP_DEBUG(get_logger(), "Calculating first step!");
+    biped_interfaces::msg::Phase phase;
+    phase.phase = phase.RIGHT_SWING;
+    calculateNewStep(phase);
+  }
 }
 
 void Walk::notifyPhase(const biped_interfaces::msg::Phase & phase)
@@ -111,6 +119,17 @@ void Walk::notifyPhase(const biped_interfaces::msg::Phase & phase)
     return;
   }
 
+  if (step_state_ && step_state_->progressRatio() < 0.5) {
+    RCLCPP_DEBUG(get_logger(),
+        "Notified of a phase change, but the step is still in its early stages. Ignoring.");
+    return;
+  }
+
+  calculateNewStep(phase);
+}
+
+void Walk::calculateNewStep(const biped_interfaces::msg::Phase& phase)
+{
   RCLCPP_DEBUG(get_logger(), "Calculating new step!");
 
   phase_ = phase;
@@ -128,13 +147,13 @@ void Walk::notifyPhase(const biped_interfaces::msg::Phase & phase)
     get_logger(), "Using %s",
     (phase.phase == phase.LEFT_STANCE) ? "LSP (Left Stance Phase)" : "RSP (Right Stance Phase)");
 
+  auto ftp_current =
+    step_state_ ? step_state_->current() : walk_interfaces::msg::FeetTrajectoryPoint{};
   step_ = std::make_unique<walk_interfaces::msg::Step>(
     feet_trajectory::generate(
-      params_->feet_trajectory_, phase, ftp_current_, ftp_next));
+      params_->feet_trajectory_, phase, ftp_current, ftp_next));
   step_state_ = std::make_unique<StepState>(*step_);
   pub_step_->publish(*step_);
-
-  ftp_current_ = std::move(ftp_next);
 }
 
 void Walk::imuCallback(const sensor_msgs::msg::Imu & imu)