diff --git a/app/src/lib/gait.ts b/app/src/lib/gait.ts
index 9527b95b..69ce5345 100644
--- a/app/src/lib/gait.ts
+++ b/app/src/lib/gait.ts
@@ -237,9 +237,9 @@ export class EightPhaseWalkState extends PhaseGaitState {
     ];
     protected shifts = [
         [-0.05, 0, -0.2],
-        [0.3, 0, -0.2],
+        [0.3, 0, 0.2],
         [-0.05, 0, 0.2],
-        [0.3, 0, 0.2]
+        [0.3, 0, -0.2]
     ];
     protected swing_stand_ratio = 1 / (this.num_phases - 1);
 
diff --git a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h
index defd10c9..8cb04ad7 100644
--- a/esp32/lib/ESP32-sveltekit/Gait/GaitState.h
+++ b/esp32/lib/ESP32-sveltekit/Gait/GaitState.h
@@ -188,7 +188,7 @@ class EightPhaseWalkState : public PhaseGaitState {
     EightPhaseWalkState() {
         uint8_t contact[4][8] = {
             {1, 0, 1, 1, 1, 1, 1, 1}, {1, 1, 1, 1, 1, 0, 1, 1}, {1, 1, 1, 1, 1, 1, 1, 0}, {1, 1, 1, 0, 1, 1, 1, 1}};
-        float shift_values[4][3] = {{-0.05f, 0, -0.2f}, {0.25f, 0, -0.2f}, {-0.05f, 0, 0.2f}, {0.25f, 0, 0.2f}};
+        float shift_values[4][3] = {{-0.05f, 0, -0.2f}, {0.25f, 0, 0.2f}, {-0.05f, 0, 0.2f}, {0.25f, 0, -0.2f}};
         for (uint8_t i = 0; i < 4; ++i) {
             for (uint8_t j = 0; j < 8; ++j) {
                 contact_phases[i][j] = contact[i][j];