diff --git a/spot_driver/spot_driver/spot_ros2.py b/spot_driver/spot_driver/spot_ros2.py
index 6a5e385a1..414334a48 100644
--- a/spot_driver/spot_driver/spot_ros2.py
+++ b/spot_driver/spot_driver/spot_ros2.py
@@ -2731,6 +2731,7 @@ def handle_execute_dance(self, execute_dance_handle: ServerGoalHandle) -> Execut
         self.run_dance_feedback = False
         feedback_thread.join()
 
+        execute_dance_handle.succeed()
         result = ExecuteDance.Result()
         result.success = res
         result.message = msg