diff --git a/selfdrive/debug/touch_replay.py b/selfdrive/debug/touch_replay.py
new file mode 100755
index 0000000000..c397520918
--- /dev/null
+++ b/selfdrive/debug/touch_replay.py
@@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+import argparse
+
+import numpy as np
+import matplotlib.pyplot as plt
+
+from openpilot.tools.lib.logreader import LogReader
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--width', default=2160, type=int)
+  parser.add_argument('--height', default=1080, type=int)
+  parser.add_argument('--route', default='rlog', type=str)
+  args = parser.parse_args()
+
+  w = args.width
+  h = args.height
+  route = args.route
+
+  fingers = [[-1, -1]] * 5
+  touch_points = []
+  current_slot = 0
+
+  lr = list(LogReader(route))
+  for msg in lr:
+    if msg.which() == 'touch':
+      for event in msg.touch:
+        if event.type == 3 and event.code == 47:
+          current_slot = event.value
+        elif event.type == 3 and event.code == 57 and event.value == -1:
+          fingers[current_slot] = [-1, -1]
+        elif event.type == 3 and event.code == 53:
+          fingers[current_slot][1] = h - (h - event.value)
+          if fingers[current_slot][0] != -1:
+            touch_points.append(fingers[current_slot].copy())
+        elif event.type == 3 and event.code == 54:
+          fingers[current_slot][0] = w - event.value
+          if fingers[current_slot][1] != -1:
+            touch_points.append(fingers[current_slot].copy())
+
+  unique_points, counts = np.unique(touch_points, axis=0, return_counts=True)
+
+  plt.figure(figsize=(10, 3))
+  plt.scatter(unique_points[:, 0], unique_points[:, 1], c=counts, s=counts * 20, edgecolors='red')
+  plt.colorbar()
+  plt.title(f'Touches for {route}')
+  plt.grid(True)
+  plt.show()