diff --git a/test/test_dmp_with_final_velocity.py b/test/test_dmp_with_final_velocity.py
index 1167e6f..baf7b75 100644
--- a/test/test_dmp_with_final_velocity.py
+++ b/test/test_dmp_with_final_velocity.py
@@ -18,3 +18,22 @@ def test_final_velocity():
         _, Y = dmp.open_loop(run_t=execution_time)
         goal_yd_actual = (Y[-1] - Y[-2]) / dt
         assert_array_almost_equal(goal_yd_expected, goal_yd_actual, decimal=2)
+
+
+def test_step_through_dmp_with_final_velocity():
+    dt = 0.01
+    execution_time = 1.0
+    T = np.arange(0, execution_time + dt, dt)
+    Y = np.column_stack((np.cos(np.pi * T), -np.cos(np.pi * T)))
+
+    dmp = DMPWithFinalVelocity(n_dims=2, execution_time=execution_time)
+    dmp.imitate(T, Y)
+    dmp.configure(start_y=np.array([0, 0], dtype=float),
+                  goal_y=np.array([1, 1], dtype=float))
+    current_y = np.copy(dmp.start_y)
+    current_yd = np.copy(dmp.start_yd)
+    path = [np.copy(current_y)]
+    while dmp.t <= dmp.execution_time:
+        current_y, current_yd = dmp.step(current_y, current_yd)
+        path.append(np.copy(current_y))
+    assert_array_almost_equal(np.vstack(path), dmp.open_loop()[1])