diff --git a/control/mpc_lateral_controller/src/mpc_utils.cpp b/control/mpc_lateral_controller/src/mpc_utils.cpp
index 01a81d9015b47..37f6f64784a26 100644
--- a/control/mpc_lateral_controller/src/mpc_utils.cpp
+++ b/control/mpc_lateral_controller/src/mpc_utils.cpp
@@ -289,6 +289,7 @@ Trajectory convertToAutowareTrajectory(const MPCTrajectory & input)
       break;
     }
   }
+  output.points = motion_utils::removeOverlapPoints(output.points);
   return output;
 }