diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
index 912f8129da738..cb51e52254bb1 100644
--- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
+++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
@@ -545,13 +545,13 @@ bool MotionVelocitySmootherNode::smoothVelocity(
     RCLCPP_WARN(get_logger(), "Fail to solve optimization.");
   }
 
+  // Set 0 velocity after input-stop-point
+  overwriteStopPoint(clipped, traj_smoothed);
+
   traj_smoothed.insert(
     traj_smoothed.begin(), traj_resampled->begin(),
     traj_resampled->begin() + *traj_resampled_closest);
 
-  // Set 0 velocity after input-stop-point
-  overwriteStopPoint(*traj_resampled, traj_smoothed);
-
   // For the endpoint of the trajectory
   if (!traj_smoothed.empty()) {
     traj_smoothed.back().longitudinal_velocity_mps = 0.0;