diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 4d1c60d4..53304583 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -101,6 +101,10 @@ class CarController():
       # send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
       pcm_cancel_cmd = True
 
+    # Never send cancel command if we never enter cruise state (no cruise if pedal)
+    # Cancel cmd causes brakes to release at a standstill causing grinding
+    pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.enableCruise
+
     # *** rate limit after the enable check ***
     self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)