diff --git a/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/control/GaitManager.h b/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/control/GaitManager.h
index 6ab4703..790e239 100644
--- a/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/control/GaitManager.h
+++ b/controllers/ocs2_quadruped_controller/include/ocs2_quadruped_controller/control/GaitManager.h
@@ -31,6 +31,7 @@ namespace ocs2::legged_robot {
         std::shared_ptr<GaitSchedule> gait_schedule_ptr_;
 
         ModeSequenceTemplate target_gait_;
+        int last_command_ = 0;
         bool gait_updated_{false};
         bool verbose_{false};
         std::vector<ModeSequenceTemplate> gait_list_;
diff --git a/controllers/ocs2_quadruped_controller/src/control/GaitManager.cpp b/controllers/ocs2_quadruped_controller/src/control/GaitManager.cpp
index 2f97b7f..bc30667 100644
--- a/controllers/ocs2_quadruped_controller/src/control/GaitManager.cpp
+++ b/controllers/ocs2_quadruped_controller/src/control/GaitManager.cpp
@@ -42,6 +42,8 @@ namespace ocs2::legged_robot {
 
     void GaitManager::getTargetGait() {
         if (ctrl_component_.control_inputs_.command == 0) return;
+        if (ctrl_component_.control_inputs_.command == last_command_) return;
+        last_command_ = ctrl_component_.control_inputs_.command;
         target_gait_ = gait_list_[ctrl_component_.control_inputs_.command - 1];
         RCLCPP_INFO(rclcpp::get_logger("GaitManager"), "Switch to gait: %s",
                     gait_name_list_[ctrl_component_.control_inputs_.command - 1].c_str());