diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index f48104235d..62772c6933 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -1214,7 +1214,10 @@ void MyAvatar::updateMotors() {
         if (_characterController.getState() == CharacterController::State::Hover) {
             motorRotation = getHead()->getCameraOrientation();
         } else {
-            motorRotation = getOrientation();
+            // non-hovering = walking: follow camera twist about vertical but not lift
+            // so we decompose camera's rotation and store the twist part in motorRotation
+            glm::quat liftRotation;
+            swingTwistDecomposition(getHead()->getCameraOrientation(), _worldUpDirection, liftRotation, motorRotation);
         }
         const float DEFAULT_MOTOR_TIMESCALE = 0.2f;
         const float INVALID_MOTOR_TIMESCALE = 1.0e6f;