diff --git a/franky/__init__.py b/franky/__init__.py
index 3f5a7c9b..cea79e09 100644
--- a/franky/__init__.py
+++ b/franky/__init__.py
@@ -29,6 +29,7 @@
     LinearImpedanceMotion,
     JointWaypoint,
     JointWaypointMotion,
+    JointMotion,
     CartesianWaypointMotion,
     LinearMotion,
     CartesianPoseStopMotion,
diff --git a/include/franky.hpp b/include/franky.hpp
index 8f0f8a18..20aebcad 100644
--- a/include/franky.hpp
+++ b/include/franky.hpp
@@ -4,6 +4,7 @@
 #include "franky/motion/condition.hpp"
 #include "franky/motion/exponential_impedance_motion.hpp"
 #include "franky/motion/impedance_motion.hpp"
+#include "franky/motion/joint_motion.hpp"
 #include "franky/motion/joint_waypoint_motion.hpp"
 #include "franky/motion/linear_impedance_motion.hpp"
 #include "franky/motion/linear_motion.hpp"
diff --git a/include/franky/motion/joint_motion.hpp b/include/franky/motion/joint_motion.hpp
new file mode 100644
index 00000000..9459d3cb
--- /dev/null
+++ b/include/franky/motion/joint_motion.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+#include <atomic>
+#include <optional>
+#include <ruckig/ruckig.hpp>
+
+#include "franky/robot_pose.hpp"
+#include "franky/motion/joint_waypoint_motion.hpp"
+#include "franky/motion/reference_type.hpp"
+
+namespace franky {
+
+class JointMotion : public JointWaypointMotion {
+ public:
+  explicit JointMotion(
+      const Vector7d &target,
+      ReferenceType reference_type,
+      RelativeDynamicsFactor relative_dynamics_factor,
+      bool return_when_finished);
+};
+
+}  // namespace franky
diff --git a/python/python.cpp b/python/python.cpp
index b77a9e32..4f793f17 100644
--- a/python/python.cpp
+++ b/python/python.cpp
@@ -653,6 +653,13 @@ PYBIND11_MODULE(_franky, m) {
            "relative_dynamics_factor"_a = 1.0,
            "return_when_finished"_a = true);
 
+  py::class_<JointMotion, JointWaypointMotion, std::shared_ptr<JointMotion>>(m, "JointMotion")
+      .def(py::init<const Vector7d &, ReferenceType, double, bool>(),
+           "target"_a,
+           py::arg_v("reference_type", ReferenceType::Absolute, "_franky.ReferenceType.Absolute"),
+           "relative_dynamics_factor"_a = 1.0,
+           "return_when_finished"_a = true);
+
   py::class_<Waypoint<RobotPose>>(m, "CartesianWaypoint")
       .def(py::init<>(
                [](
diff --git a/src/motion/joint_motion.cpp b/src/motion/joint_motion.cpp
new file mode 100644
index 00000000..4c2bd533
--- /dev/null
+++ b/src/motion/joint_motion.cpp
@@ -0,0 +1,25 @@
+#include "franky/motion/joint_motion.hpp"
+
+#include "franky/motion/joint_waypoint_motion.hpp"
+
+namespace franky {
+
+JointMotion::JointMotion(
+    const Vector7d &target,
+    ReferenceType reference_type,
+    RelativeDynamicsFactor relative_dynamics_factor,
+    bool return_when_finished)
+    : JointWaypointMotion(
+    {
+        {
+            .target = target,
+            .reference_type = reference_type,
+            .relative_dynamics_factor = relative_dynamics_factor
+        }
+    }, {
+        Params{
+            .return_when_finished = return_when_finished
+        }
+    }) {}
+
+}  // namespace franky