diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 7d063af1ea..7efb8efc2e 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -8,6 +8,7 @@
       - Fixed detection of timestamp fields in `Float64` format, and convert them from absolute to relative timestamps.
 - BUG FIXES:
   - ros1bridge and ros2bridge: fix conversion to PointCloud XYZI.
+  - CWaypointsNavigator::waypoints_navigationStep() stops aligning with target after the waypoint is considered as reached.
 
 # Version 2.13.4: Released July 24th, 2024
 - Fix docs typos.
diff --git a/libs/nav/src/reactive/CWaypointsNavigator.cpp b/libs/nav/src/reactive/CWaypointsNavigator.cpp
index 8361c0783f..49cbcfd399 100644
--- a/libs/nav/src/reactive/CWaypointsNavigator.cpp
+++ b/libs/nav/src/reactive/CWaypointsNavigator.cpp
@@ -239,6 +239,8 @@ void CWaypointsNavigator::waypoints_navigationStep()
                    " segment-to-target dist: "
                 << dist2target << ", allowed_dist: " << wp.allowed_distance);
 
+            m_is_aligning = false;
+
             wp.reached = true;
             wp.skipped = false;
             wp.timestamp_reach = mrpt::Clock::now();