diff --git a/selfdrive/debug/internal/replay_drive_can.py b/selfdrive/debug/internal/replay_drive_can.py
new file mode 100755
index 0000000000..240f37a1fa
--- /dev/null
+++ b/selfdrive/debug/internal/replay_drive_can.py
@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+
+import time
+from tools.lib.logreader import LogReader
+import cereal.messaging as messaging
+
+ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
+NUM_SEGS = 82
+
+# Get can messages from logs
+can_msgs = []
+for i in range(2):
+  log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2"
+  lr = LogReader(log_url)
+  can_msgs += [m for m in lr if m.which() == 'can']
+
+
+# Replay
+sendcan = messaging.pub_sock('sendcan')
+while True:
+  for m in can_msgs:
+    sendcan.send(m.as_builder().to_bytes())
+    time.sleep(0.01)  # 100 Hz