diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
index f69a0fe2c0a4..4204d8177c5b 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -135,6 +135,7 @@ GoalPlannerModule::GoalPlannerModule(
   }
 
   steering_factor_interface_.init(PlanningBehavior::GOAL_PLANNER);
+  velocity_factor_interface_.init(PlanningBehavior::GOAL_PLANNER);
 
   /**
    * NOTE: Add `universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);` to functions called
@@ -1468,6 +1469,8 @@ void GoalPlannerModule::postProcess()
 
   setStopReason(StopReason::GOAL_PLANNER, pull_over_path.full_path());
 
+  setVelocityFactor(pull_over_path.full_path());
+
   context_data_ = std::nullopt;
 }