diff --git a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
index b303ffb1c71d..7dd597e27b71 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -98,6 +98,7 @@ StartPlannerModule::StartPlannerModule(
   }
 
   steering_factor_interface_.init(PlanningBehavior::START_PLANNER);
+  velocity_factor_interface_.init(PlanningBehavior::START_PLANNER);
 }
 
 void StartPlannerModule::onFreespacePlannerTimer()
@@ -738,6 +739,8 @@ BehaviorModuleOutput StartPlannerModule::plan()
 
   setDrivableAreaInfo(output);
 
+  setVelocityFactor(output.path);
+
   const auto steering_factor_direction = getSteeringFactorDirection(output);
 
   if (status_.driving_forward) {