diff --git a/action_server/src/action_server/actions/hand_over.py b/action_server/src/action_server/actions/hand_over.py
index 8bdfc56f..129e1edb 100644
--- a/action_server/src/action_server/actions/hand_over.py
+++ b/action_server/src/action_server/actions/hand_over.py
@@ -100,6 +100,8 @@ def _configure(self, robot, config):
             return
         # We can now assume that we are at the destination for handover!
 
+        self._robot.speech.speak("Bring the action!")
+
         self._config_result.succeeded = True
 
     def _handover(self):
@@ -129,7 +131,6 @@ def _handover(self):
         arm.occupied_by = None
 
     def _start(self):
-        self._robot.speech.speak("Bring the action!")
         # Handover
         self._handover()