diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
index 412bab01d6b9c..d596fde7d8b9c 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp
@@ -74,6 +74,7 @@ class SceneModuleManagerInterface
   SceneModulePtr getNewModule()
   {
     if (idling_module_ != nullptr) {
+      idling_module_->onEntry();
       return idling_module_;
     }