diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 6d4f92246..a19e317a9 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -76,8 +76,17 @@ class LongControl:
       self.reset()
 
     elif self.long_control_state == LongCtrlState.starting:
-      output_accel = self.CP.startAccel
-      self.reset()
+      if self.CP.useCarBrakeHoldState:
+        if CS.brakeHoldActive:
+          output_accel = self.CP.startAccel
+          self.reset()
+        else:
+          error = a_target - CS.aEgo
+          output_accel = self.pid.update(error, speed=CS.vEgo,
+                                         feedforward=a_target)
+      else:
+        output_accel = self.CP.startAccel
+        self.reset()
 
     else:  # LongCtrlState.pid
       error = a_target - CS.aEgo