diff --git a/src/isar/state_machine/state_machine.py b/src/isar/state_machine/state_machine.py
index 5fe323f7..7ba068e9 100644
--- a/src/isar/state_machine/state_machine.py
+++ b/src/isar/state_machine/state_machine.py
@@ -122,6 +122,12 @@ def __init__(
                     "dest": self.monitor_state,
                     "before": self._initiated,
                 },
+                {
+                    "trigger": "pause_full_mission",
+                    "source": [self.initiate_state, self.monitor_state],
+                    "dest": self.paused_state,
+                    "before": self._mission_paused,
+                },
                 {
                     "trigger": "pause",
                     "source": [self.initiate_state, self.monitor_state],
@@ -166,6 +172,12 @@ def __init__(
                     "dest": self.initiate_state,
                     "before": self._resume,
                 },
+                {
+                    "trigger": "resume_full_mission",
+                    "source": self.paused_state,
+                    "dest": self.monitor_state,
+                    "before": self._resume,
+                },
                 {
                     "trigger": "step_finished",
                     "source": self.monitor_state,
@@ -282,6 +294,8 @@ def _resume(self) -> None:
         self.current_task.reset_task()
         self.update_current_step()
 
+        self.robot.resume()
+
     def _mission_finished(self) -> None:
         fail_statuses: List[TaskStatus] = [
             TaskStatus.Cancelled,
@@ -348,6 +362,8 @@ def _mission_paused(self) -> None:
         self.publish_task_status(task=self.current_task)
         self.publish_step_status(step=self.current_step)
 
+        self.robot.pause()
+
     def _stop(self) -> None:
         self.stopped = True
 
diff --git a/src/isar/state_machine/states/monitor.py b/src/isar/state_machine/states/monitor.py
index 5e23dc73..acc5eb60 100644
--- a/src/isar/state_machine/states/monitor.py
+++ b/src/isar/state_machine/states/monitor.py
@@ -59,7 +59,10 @@ def _run(self) -> None:
                 break
 
             if self.state_machine.should_pause_mission():
-                transition = self.state_machine.pause  # type: ignore
+                if self.state_machine.stepwise_mission:
+                    transition = self.state_machine.pause  # type: ignore
+                else:
+                    transition = self.state_machine.pause_full_mission  # type: ignore
                 break
 
             if not self.step_status_thread:
diff --git a/src/isar/state_machine/states/paused.py b/src/isar/state_machine/states/paused.py
index 636d7fad..f887e0b6 100644
--- a/src/isar/state_machine/states/paused.py
+++ b/src/isar/state_machine/states/paused.py
@@ -1,6 +1,6 @@
 import logging
 import time
-from typing import TYPE_CHECKING, Callable
+from typing import Callable, TYPE_CHECKING
 
 from transitions import State
 
@@ -26,7 +26,10 @@ def _run(self) -> None:
                 break
 
             if self.state_machine.should_resume_mission():
-                transition = self.state_machine.resume  # type: ignore
+                if self.state_machine.stepwise_mission:
+                    transition = self.state_machine.resume  # type: ignore
+                else:
+                    transition = self.state_machine.resume_full_mission  # type: ignore
                 break
 
             time.sleep(self.state_machine.sleep_time)
diff --git a/src/robot_interface/robot_interface.py b/src/robot_interface/robot_interface.py
index 55663606..2d00d641 100644
--- a/src/robot_interface/robot_interface.py
+++ b/src/robot_interface/robot_interface.py
@@ -142,6 +142,44 @@ def stop(self) -> None:
         """
         raise NotImplementedError
 
+    @abstractmethod
+    def pause(self) -> None:
+        """Pauses the execution of the current step and stops the movement of the robot.
+
+        Returns
+        -------
+        None
+
+        Raises
+        ------
+        RobotActionException
+            If the robot fails to perform the requested action to pause mission execution
+            the action to pause will be attempted again until a certain number of retries
+        RobotException
+            Will catch other RobotExceptions and retry to pause the mission
+
+        """
+        raise NotImplementedError
+
+    @abstractmethod
+    def resume(self) -> None:
+        """Resumes the execution of the current step and continues the rest of the mission.
+
+        Returns
+        -------
+        None
+
+        Raises
+        ------
+        RobotActionException
+            If the robot fails to perform the requested action to resume mission execution
+            the action to resume will be attempted again until a certain number of retries
+        RobotException
+            Will catch other RobotExceptions and retry to resume the mission
+
+        """
+        raise NotImplementedError
+
     @abstractmethod
     def get_inspections(self, step: InspectionStep) -> Sequence[Inspection]:
         """Return the inspections connected to the given step.
diff --git a/tests/mocks/robot_interface.py b/tests/mocks/robot_interface.py
index 4be71215..c99e5be9 100644
--- a/tests/mocks/robot_interface.py
+++ b/tests/mocks/robot_interface.py
@@ -51,6 +51,12 @@ def step_status(self) -> StepStatus:
     def stop(self) -> None:
         return
 
+    def pause(self) -> None:
+        return
+
+    def resume(self) -> None:
+        return
+
     def get_inspections(self, step: InspectionStep) -> Sequence[Inspection]:
         image: Image = Image(mock_image_metadata())
         image.data = b"Some binary image data"