diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index ae343a5a2..301a07839 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -40,6 +40,9 @@ class DesireHelper:
     self.prev_one_blinker = False
     self.desire = log.Desire.none
 
+    # FrogPilot variables
+    self.lane_change_wait_timer = 0.0
+
   def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frogpilot_toggles):
     v_ego = carstate.vEgo
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
@@ -53,9 +56,12 @@ class DesireHelper:
       if self.lane_change_state == LaneChangeState.off and one_blinker and not self.prev_one_blinker and not below_lane_change_speed:
         self.lane_change_state = LaneChangeState.preLaneChange
         self.lane_change_ll_prob = 1.0
+        self.lane_change_wait_timer = 0.0
 
       # LaneChangeState.preLaneChange
       elif self.lane_change_state == LaneChangeState.preLaneChange:
+        self.lane_change_wait_timer += DT_MDL
+
         # Set lane change direction
         self.lane_change_direction = LaneChangeDirection.left if \
           carstate.leftBlinker else LaneChangeDirection.right
@@ -64,14 +70,18 @@ class DesireHelper:
                          ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                           (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))
 
+        if torque_applied:
+          self.lane_change_wait_timer = frogpilot_toggles.lane_change_delay
+
         blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
                               (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
 
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
           self.lane_change_direction = LaneChangeDirection.none
-        elif torque_applied and not blindspot_detected:
+        elif torque_applied and not blindspot_detected and self.lane_change_wait_timer >= frogpilot_toggles.lane_change_delay:
           self.lane_change_state = LaneChangeState.laneChangeStarting
+          self.lane_change_wait_timer = 0.0
 
       # LaneChangeState.laneChangeStarting
       elif self.lane_change_state == LaneChangeState.laneChangeStarting: