diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 0a95ff7bf5..922fa7e36b 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -479,7 +479,11 @@ class Controls:
 
         # OVERRIDING
         elif self.state == State.overriding:
-          if not self.events.any(ET.OVERRIDE):
+          if self.events.any(ET.SOFT_DISABLE):
+            self.state = State.softDisabling
+            self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
+            self.current_alert_types.append(ET.SOFT_DISABLE)
+          elif not self.events.any(ET.OVERRIDE):
             self.state = State.enabled
           else:
             self.current_alert_types.append(ET.OVERRIDE)
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index 99a111e612..244c56687c 100755
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -12,11 +12,10 @@ State = log.ControlsState.OpenpilotState
 
 # The event types that maintain the current state
 MAINTAIN_STATES = {State.enabled: None, State.disabled: None, State.softDisabling: ET.SOFT_DISABLE,
-                   State.preEnabled: ET.PRE_ENABLE}
-ALL_STATES = tuple((state for state in State.schema.enumerants.values() if
-                    state != State.overriding))  # TODO: remove overriding exception
+                   State.preEnabled: ET.PRE_ENABLE, State.overriding: ET.OVERRIDE}
+ALL_STATES = tuple(State.schema.enumerants.values())
 # The event types checked in DISABLED section of state machine
-ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE)
+ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE)
 
 
 def make_event(event_types):