diff --git a/src/main/java/org/lasarobotics/drive/SwervePoseEstimatorService.java b/src/main/java/org/lasarobotics/drive/SwervePoseEstimatorService.java
index 08fc5f25..eedc681a 100644
--- a/src/main/java/org/lasarobotics/drive/SwervePoseEstimatorService.java
+++ b/src/main/java/org/lasarobotics/drive/SwervePoseEstimatorService.java
@@ -152,6 +152,9 @@ private SwervePoseEstimatorService(Matrix<N3,N1> odometryStdDev,
       rRearModule.get().getPosition(syncedTimestamp)
     };
 
+    // Get initial swerve positions
+    this.m_previousModulePositions = m_swerveModulePositionSupplier.apply(m_syncedTimestamp);
+
     // Initialise kinematics
     this.m_kinematics = new SwerveDriveKinematics(
       lFrontModule.get().getModuleCoordinate(),