diff --git a/arbnode/node.go b/arbnode/node.go
index f2e3433ecd..48920cdbdd 100644
--- a/arbnode/node.go
+++ b/arbnode/node.go
@@ -212,6 +212,7 @@ func ConfigDefaultL1NonSequencerTest() *Config {
 	config.Staker = legacystaker.TestL1ValidatorConfig
 	config.Staker.Enable = false
 	config.BlockValidator.ValidationServerConfigs = []rpcclient.ClientConfig{{URL: ""}}
+	config.Bold.MinimumGapToParentAssertion = 0
 
 	return &config
 }
@@ -230,6 +231,7 @@ func ConfigDefaultL2Test() *Config {
 	config.Staker.Enable = false
 	config.BlockValidator.ValidationServerConfigs = []rpcclient.ClientConfig{{URL: ""}}
 	config.TransactionStreamer = DefaultTransactionStreamerConfig
+	config.Bold.MinimumGapToParentAssertion = 0
 
 	return &config
 }
diff --git a/bold b/bold
index d0a87de774..1b1c34c319 160000
--- a/bold
+++ b/bold
@@ -1 +1 @@
-Subproject commit d0a87de774aecfa97161efd1b0a924d4d5fbcf74
+Subproject commit 1b1c34c31967242a492d29925640ede98d921fca
diff --git a/staker/bold/bold_staker.go b/staker/bold/bold_staker.go
index 1a8eed80fa..ad0e24e338 100644
--- a/staker/bold/bold_staker.go
+++ b/staker/bold/bold_staker.go
@@ -57,7 +57,9 @@ type BoldConfig struct {
 	// How often to scan for newly created assertions onchain.
 	AssertionScanningInterval time.Duration `koanf:"assertion-scanning-interval"`
 	// How often to confirm assertions onchain.
-	AssertionConfirmingInterval         time.Duration       `koanf:"assertion-confirming-interval"`
+	AssertionConfirmingInterval time.Duration `koanf:"assertion-confirming-interval"`
+	// How long to wait since parent assertion was created to post a new assertion
+	MinimumGapToParentAssertion         time.Duration       `koanf:"minimum-gap-to-parent-assertion"`
 	API                                 bool                `koanf:"api"`
 	APIHost                             string              `koanf:"api-host"`
 	APIPort                             uint16              `koanf:"api-port"`
@@ -98,6 +100,7 @@ var DefaultBoldConfig = BoldConfig{
 	AssertionPostingInterval:            time.Minute * 15,
 	AssertionScanningInterval:           time.Minute,
 	AssertionConfirmingInterval:         time.Minute,
+	MinimumGapToParentAssertion:         time.Minute, // Correct default?
 	API:                                 false,
 	APIHost:                             "127.0.0.1",
 	APIPort:                             9393,
@@ -121,6 +124,7 @@ func BoldConfigAddOptions(prefix string, f *flag.FlagSet) {
 	f.Duration(prefix+".assertion-posting-interval", DefaultBoldConfig.AssertionPostingInterval, "assertion posting interval")
 	f.Duration(prefix+".assertion-scanning-interval", DefaultBoldConfig.AssertionScanningInterval, "scan assertion interval")
 	f.Duration(prefix+".assertion-confirming-interval", DefaultBoldConfig.AssertionConfirmingInterval, "confirm assertion interval")
+	f.Duration(prefix+".minimum-gap-to-parent-assertion", DefaultBoldConfig.MinimumGapToParentAssertion, "minimum duration to wait since the parent assertion was created to post a new assertion")
 	f.Duration(prefix+".check-staker-switch-interval", DefaultBoldConfig.CheckStakerSwitchInterval, "how often to check if staker can switch to bold")
 	f.Bool(prefix+".api", DefaultBoldConfig.API, "enable api")
 	f.String(prefix+".api-host", DefaultBoldConfig.APIHost, "bold api host")
@@ -448,6 +452,7 @@ func newBOLDChallengeManager(
 		challengemanager.StackWithPollingInterval(scanningInterval),
 		challengemanager.StackWithPostingInterval(postingInterval),
 		challengemanager.StackWithConfirmationInterval(confirmingInterval),
+		challengemanager.StackWithMinimumGapToParentAssertion(config.MinimumGapToParentAssertion),
 		challengemanager.StackWithTrackChallengeParentAssertionHashes(config.TrackChallengeParentAssertionHashes),
 		challengemanager.StackWithHeaderProvider(l1Reader),
 	}
diff --git a/system_tests/bold_challenge_protocol_test.go b/system_tests/bold_challenge_protocol_test.go
index 777817bf3e..3677021c00 100644
--- a/system_tests/bold_challenge_protocol_test.go
+++ b/system_tests/bold_challenge_protocol_test.go
@@ -417,6 +417,7 @@ func testChallengeProtocolBOLD(t *testing.T, spawnerOpts ...server_arb.SpawnerOp
 		challengemanager.StackWithMode(modes.MakeMode),
 		challengemanager.StackWithPostingInterval(time.Second * 3),
 		challengemanager.StackWithPollingInterval(time.Second),
+		challengemanager.StackWithMinimumGapToParentAssertionCreationTime(0),
 		challengemanager.StackWithAverageBlockCreationTime(time.Second),
 	}
 
diff --git a/system_tests/bold_new_challenge_test.go b/system_tests/bold_new_challenge_test.go
index ad6e44bc71..eb452ca5d4 100644
--- a/system_tests/bold_new_challenge_test.go
+++ b/system_tests/bold_new_challenge_test.go
@@ -344,6 +344,7 @@ func startBoldChallengeManager(t *testing.T, ctx context.Context, builder *NodeB
 		challengemanager.StackWithPostingInterval(time.Second * 3),
 		challengemanager.StackWithPollingInterval(time.Second),
 		challengemanager.StackWithAverageBlockCreationTime(time.Second),
+		challengemanager.StackWithMinimumGapToParentAssertionCreationTime(0),
 	}
 
 	challengeManager, err := challengemanager.NewChallengeStack(
diff --git a/system_tests/overflow_assertions_test.go b/system_tests/overflow_assertions_test.go
index c024a43070..848c61e7d3 100644
--- a/system_tests/overflow_assertions_test.go
+++ b/system_tests/overflow_assertions_test.go
@@ -224,6 +224,7 @@ func TestOverflowAssertions(t *testing.T) {
 		challengemanager.StackWithPostingInterval(time.Second),
 		challengemanager.StackWithPollingInterval(time.Millisecond * 500),
 		challengemanager.StackWithAverageBlockCreationTime(time.Second),
+		challengemanager.StackWithMinimumGapToParentAssertionCreationTime(0),
 	}
 
 	manager, err := challengemanager.NewChallengeStack(