diff --git a/cmvr-es/task/touch_screen_task/include/touch_screen_task.h b/cmvr-es/task/touch_screen_task/include/touch_screen_task.h
index 8319bd1e..6e284d7e 100644
--- a/cmvr-es/task/touch_screen_task/include/touch_screen_task.h
+++ b/cmvr-es/task/touch_screen_task/include/touch_screen_task.h
@@ -118,6 +118,7 @@ private:
     void hardStopIbvsMotion();
     bool holdCurrentControlledPosition() const;
     bool buildInitJointPositions(std::vector<double>& positions_out) const;
+    bool moveToInitPositionBeforeStartIfEnabled();
     bool moveToInitPositionIfEnabled() const;
     bool readCurrentTouchPointPositionBase(Eigen::Vector3d& p_out) const;
     void logTouchingSpeedLState() const;
diff --git a/cmvr-es/task/touch_screen_task/src/touch_screen_task.cpp b/cmvr-es/task/touch_screen_task/src/touch_screen_task.cpp
index f0a4f419..1c3d2e6c 100644
--- a/cmvr-es/task/touch_screen_task/src/touch_screen_task.cpp
+++ b/cmvr-es/task/touch_screen_task/src/touch_screen_task.cpp
@@ -323,25 +323,6 @@ bool TouchScreenTask::init(const std::shared_ptr<device::RobotArm>& arm,
         return false;
     }
 
-    if (config_.initialization().before_start()) {
-        std::vector<double> init_positions;
-        if (!buildInitJointPositions(init_positions)) {
-            initialized_ = false;
-            last_status_ = Status::INVALID_CONFIG;
-            return false;
-        }
-        device::JointPositionCommand init_cmd{init_positions};
-        device::MotionOptions options;
-        options.velocity = config_.initialization().velocity();
-        options.acceleration = config_.initialization().acceleration();
-        const auto result = arm_->moveJ(init_cmd, options);
-        if (!result.ok()) {
-            initialized_ = false;
-            last_status_ = Status::ROBOT_COMMAND_FAILED;
-            return false;
-        }
-    }
-
     if (config_.alignment().ibvs().camera_link().empty() ||
         config_.alignment().ibvs().control_joint_names().empty()) {
         initialized_ = false;
@@ -425,6 +406,10 @@ bool TouchScreenTask::startFromPixelUnlocked(int u, int v) {
     }
 
     stopUnlocked();
+    if (!moveToInitPositionBeforeStartIfEnabled()) {
+        return false;
+    }
+
     tracker_.clear();
     tracker_.resetActiveTagTracking();
     ibvs_.reset();
@@ -1504,6 +1489,33 @@ bool TouchScreenTask::buildInitJointPositions(std::vector<double>& positions_out
     return buildInitJointPositionsFromConfig(config_, positions_out);
 }
 
+bool TouchScreenTask::moveToInitPositionBeforeStartIfEnabled() {
+    if (!config_.initialization().before_start()) {
+        return true;
+    }
+    if (!arm_) {
+        last_status_ = Status::ROBOT_COMMAND_FAILED;
+        return false;
+    }
+
+    std::vector<double> init_positions;
+    if (!buildInitJointPositions(init_positions)) {
+        last_status_ = Status::INVALID_CONFIG;
+        return false;
+    }
+
+    device::JointPositionCommand init_cmd{init_positions};
+    device::MotionOptions options;
+    options.velocity = config_.initialization().velocity();
+    options.acceleration = config_.initialization().acceleration();
+    const auto result = arm_->moveJ(init_cmd, options);
+    if (!result.ok()) {
+        last_status_ = Status::ROBOT_COMMAND_FAILED;
+        return false;
+    }
+    return true;
+}
+
 bool TouchScreenTask::moveToInitPositionIfEnabled() const {
     if (!config_.initialization().after_finish()) {
         return true;