diff --git a/CHANGELOG.md b/CHANGELOG.md
index 4ca1c19ae9..0d25be00ac 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -14,6 +14,7 @@ All notable changes to this project are documented in this file.
 ### Fixed
 - Bug fix of `JointTorqueControlDevice` device (https://github.com/ami-iit/bipedal-locomotion-framework/pull/890)
 - Bug fix of `prepare_data` method calling in `joints-grid-position-tracking` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/895)
+- Fix the normal force limit constraint in the `CentroidalMPC` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/898)
 
 ## [0.19.0] - 2024-09-06
 ### Added
diff --git a/src/ReducedModelControllers/src/CentroidalMPC.cpp b/src/ReducedModelControllers/src/CentroidalMPC.cpp
index ef265ed464..81d05145ba 100644
--- a/src/ReducedModelControllers/src/CentroidalMPC.cpp
+++ b/src/ReducedModelControllers/src/CentroidalMPC.cpp
@@ -940,7 +940,7 @@ struct CentroidalMPC::Impl
                         0 <= casadi::MX::mtimes(casadi::MX::reshape(contact.orientation(Sl(), i),
                                                                     3,
                                                                     3),
-                                                corner.force(Sl(), i)(2)));
+                                                corner.force(Sl(), i))(2));
                 }
             }
         }