diff --git a/moveit_py/moveit/planning.pyi b/moveit_py/moveit/planning.pyi
index 45410effd3..ecdf0c5a26 100644
--- a/moveit_py/moveit/planning.pyi
+++ b/moveit_py/moveit/planning.pyi
@@ -43,6 +43,7 @@ class PlanningComponent:
     def set_start_state_to_current_state(self, *args, **kwargs) -> Any: ...
     def set_workspace(self, *args, **kwargs) -> Any: ...
     def unset_workspace(self, *args, **kwargs) -> Any: ...
+    def get_motion_plan_request(self, *args, **kwargs) -> Any: ...
     @property
     def named_target_states(self) -> Any: ...
     @property
diff --git a/moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.cpp b/moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.cpp
index 5d61b6e789..6f83cde2ec 100644
--- a/moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.cpp
+++ b/moveit_py/src/moveit/moveit_ros/moveit_cpp/planning_component.cpp
@@ -358,6 +358,11 @@ void init_planning_component(py::module& m)
       .def("unset_workspace", &moveit_cpp::PlanningComponent::unsetWorkspace,
            R"(
            Remove the workspace bounding box from planning.
+           )")
+      .def("get_motion_plan_request", &moveit_cpp::PlanningComponent::getMotionPlanRequest,
+           py::arg("plan_request_parameters"),
+           R"(
+           Get a MotionPlanRequest message for current planning request.
            )");
 }
 }  // namespace bind_planning_component