diff --git a/include/ur_client_library/ur/ur_driver.h b/include/ur_client_library/ur/ur_driver.h
index d064c8128..e0c334f22 100644
--- a/include/ur_client_library/ur/ur_driver.h
+++ b/include/ur_client_library/ur/ur_driver.h
@@ -435,7 +435,7 @@ class UrDriver
     init(config);
   }
 
-  virtual ~UrDriver() = default;
+  ~UrDriver();
 
   /*!
    * \brief Access function to receive the latest data package sent from the robot through RTDE
diff --git a/src/ur/ur_driver.cpp b/src/ur/ur_driver.cpp
index e61082293..47705b3fa 100644
--- a/src/ur/ur_driver.cpp
+++ b/src/ur/ur_driver.cpp
@@ -52,6 +52,12 @@ static const std::string SCRIPT_COMMAND_PORT_REPLACE("{{SCRIPT_COMMAND_SERVER_PO
 static const std::string FORCE_MODE_SET_DAMPING_REPLACE("{{FORCE_MODE_SET_DAMPING_REPLACE}}");
 static const std::string FORCE_MODE_SET_GAIN_SCALING_REPLACE("{{FORCE_MODE_SET_GAIN_SCALING_REPLACE}}");
 
+UrDriver::~UrDriver()
+{
+  // This will return false if the external control script is not running.
+  stopControl();
+}
+
 void UrDriver::init(const UrDriverConfiguration& config)
 {
   robot_ip_ = config.robot_ip;