diff --git a/docker/etc/entrypoint.sh b/docker/etc/entrypoint.sh
new file mode 100644
index 0000000000..a118d39147
--- /dev/null
+++ b/docker/etc/entrypoint.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+
+# Source ROS2 and Autoware
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source /opt/autoware/setup.bash
+
+# Check if VNC is enabled
+if [ "$VNC_ENABLED" = "true" ]; then
+
+    # Start VNC server
+    echo "Starting VNC server..."
+    vncserver :1 -auth $HOME/.Xauthority -geometry 1024x768 -depth 16 -pixelformat rgb565 >/dev/null 2>&1
+    VNC_RESULT=$?
+
+    if [ $VNC_RESULT -ne 0 ]; then
+        echo "Failed to start VNC server (exit code: $VNC_RESULT)"
+        exit $VNC_RESULT
+    fi
+
+    sleep 2
+
+    # Start NoVNC
+    echo "Starting NoVNC..."
+    websockify --daemon --web=/usr/share/novnc/ --cert=/etc/ssl/certs/novnc.crt --key=/etc/ssl/private/novnc.key 6080 localhost:5901
+
+    # Get local IP address (works on Linux)
+    LOCAL_IP=$(hostname -I | awk '{print $1}')
+    NOVNC_URL="${LOCAL_IP}:6080"
+
+    # Configure ngrok if NGROK_AUTHTOKEN is set
+    if [ -n "$NGROK_AUTHTOKEN" ]; then
+        echo "Starting ngrok..."
+        ngrok config add-authtoken $NGROK_AUTHTOKEN
+
+        # Start ngrok tunnel for NoVNC
+        ngrok http --url=$NGROK_URL 6080 --log=stdout >ngrok.log &
+
+        NOVNC_URL=https://$NGROK_URL
+    fi
+
+    # Start Rviz
+    rviz2 -d /autoware/simulation/scenario_simulator.rviz
+
+    # Print message
+    echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
+    echo -e "Note: In order to access VNC and NoVNC on localhost, you need to expose ports 5901 and 6080 to the outside world respectively."
+    echo -e "\033[32mVNC server is running and accessible at localhost:5901 via VNC viewer\033[0m"
+    echo -e "\033[32mNoVNC web interface available at $NOVNC_URL/vnc.html via web browser\033[0m"
+    echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
+fi
+
+# Run command
+exec "$@"
diff --git a/docker/planning-control/entrypoint.sh b/docker/planning-control/entrypoint.sh
deleted file mode 100644
index 286db2474f..0000000000
--- a/docker/planning-control/entrypoint.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-# shellcheck disable=SC1090,SC1091
-
-source "/opt/ros/$ROS_DISTRO/setup.bash"
-source /opt/autoware/setup.bash
-exec "$@"
diff --git a/docker/planning-control/fail/Dockerfile b/docker/planning-control/fail/Dockerfile
index dcc708f8af..a1c583bfd1 100644
--- a/docker/planning-control/fail/Dockerfile
+++ b/docker/planning-control/fail/Dockerfile
@@ -4,6 +4,6 @@ FROM ghcr.io/autowarefoundation/autoware:universe AS planning-control-fail
 COPY docker/planning-control/fail/fail_scenario.launch.xml /opt/autoware/share/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
 
 # Copy entrypoint script
-COPY docker/planning-control/entrypoint.sh /entrypoint.sh
+COPY docker/etc/entrypoint.sh /entrypoint.sh
 RUN chmod +x /entrypoint.sh
 ENTRYPOINT ["/entrypoint.sh"]
diff --git a/docker/planning-control/pass/Dockerfile b/docker/planning-control/pass/Dockerfile
index 8ff64a3893..69a0d43333 100644
--- a/docker/planning-control/pass/Dockerfile
+++ b/docker/planning-control/pass/Dockerfile
@@ -4,6 +4,6 @@ FROM ghcr.io/autowarefoundation/autoware:universe AS planning-control-pass
 COPY docker/planning-control/pass/pass_scenario.launch.xml /opt/autoware/share/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml
 
 # Copy entrypoint script
-COPY docker/planning-control/entrypoint.sh /entrypoint.sh
+COPY docker/etc/entrypoint.sh /entrypoint.sh
 RUN chmod +x /entrypoint.sh
 ENTRYPOINT ["/entrypoint.sh"]
diff --git a/docker/simulator-visualizer/Dockerfile b/docker/simulator-visualizer/Dockerfile
index 1e4d66aca2..692e982752 100644
--- a/docker/simulator-visualizer/Dockerfile
+++ b/docker/simulator-visualizer/Dockerfile
@@ -83,7 +83,7 @@ RUN curl -s https://ngrok-agent.s3.amazonaws.com/ngrok.asc | \
 EXPOSE 5900 6080
 
 # Copy entrypoint script
-COPY docker/simulator-visualizer/entrypoint.sh /entrypoint.sh
+COPY docker/etc/entrypoint.sh /entrypoint.sh
 RUN chmod +x /entrypoint.sh
 
 ENTRYPOINT ["/entrypoint.sh"]
diff --git a/docker/simulator-visualizer/entrypoint.sh b/docker/simulator-visualizer/entrypoint.sh
deleted file mode 100644
index b42395425b..0000000000
--- a/docker/simulator-visualizer/entrypoint.sh
+++ /dev/null
@@ -1,49 +0,0 @@
-#!/usr/bin/env bash
-
-# Source ROS2 and Autoware
-source "/opt/ros/$ROS_DISTRO/setup.bash"
-source /opt/autoware/setup.bash
-
-# Start VNC server
-echo "Starting VNC server..."
-vncserver :1 -auth $HOME/.Xauthority -geometry 1024x768 -depth 16 -pixelformat rgb565 >/dev/null 2>&1
-VNC_RESULT=$?
-
-if [ $VNC_RESULT -ne 0 ]; then
-    echo "Failed to start VNC server (exit code: $VNC_RESULT)"
-    exit $VNC_RESULT
-fi
-
-sleep 2
-
-# Start NoVNC
-echo "Starting NoVNC..."
-websockify --daemon --web=/usr/share/novnc/ --cert=/etc/ssl/certs/novnc.crt --key=/etc/ssl/private/novnc.key 6080 localhost:5901
-
-# Get local IP address (works on Linux)
-LOCAL_IP=$(hostname -I | awk '{print $1}')
-NOVNC_URL="${LOCAL_IP}:6080"
-
-# Configure ngrok if NGROK_AUTHTOKEN is set
-if [ -n "$NGROK_AUTHTOKEN" ]; then
-    echo "Starting ngrok..."
-    ngrok config add-authtoken $NGROK_AUTHTOKEN
-
-    # Start ngrok tunnel for NoVNC
-    ngrok http --url=$NGROK_URL 6080 --log=stdout >ngrok.log &
-
-    NOVNC_URL=https://$NGROK_URL
-fi
-
-# Start Rviz
-rviz2 -d /autoware/simulation/scenario_simulator.rviz
-
-# Print message
-echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
-echo -e "Note: In order to access VNC and NoVNC on localhost, you need to expose ports 5901 and 6080 to the outside world respectively."
-echo -e "\033[32mVNC server is running and accessible at localhost:5901 via VNC viewer\033[0m"
-echo -e "\033[32mNoVNC web interface available at $NOVNC_URL/vnc.html via web browser\033[0m"
-echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
-
-# Run command
-exec "$@"