diff --git a/include/ur_client_library/ur/instruction_executor.h b/include/ur_client_library/ur/instruction_executor.h
index 664b4e1c..2be325c7 100644
--- a/include/ur_client_library/ur/instruction_executor.h
+++ b/include/ur_client_library/ur/instruction_executor.h
@@ -187,6 +187,8 @@ class InstructionExecutor
     return trajectory_running_;
   }
 
+  void registerTrajDoneCallback();
+
 private:
   void trajDoneCallback(const urcl::control::TrajectoryResult& result);
   void trajDisconnectCallback(const int filedescriptor);
diff --git a/src/ur/instruction_executor.cpp b/src/ur/instruction_executor.cpp
index 5828c830..77ca496f 100644
--- a/src/ur/instruction_executor.cpp
+++ b/src/ur/instruction_executor.cpp
@@ -41,6 +41,11 @@ void urcl::InstructionExecutor::trajDoneCallback(const urcl::control::Trajectory
   trajectory_result_ = result;
   trajectory_running_ = false;
 }
+void urcl::InstructionExecutor::registerTrajDoneCallback()
+{
+  driver_->registerTrajectoryDoneCallback(
+        std::bind(&InstructionExecutor::trajDoneCallback, this, std::placeholders::_1));
+}
 void urcl::InstructionExecutor::trajDisconnectCallback(const int filedescriptor)
 {
   URCL_LOG_INFO("Trajectory disconnect");