diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 7cafaf60ac..1dcbcae0c9 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -23,6 +23,7 @@ juggle_dir = os.path.dirname(os.path.realpath(__file__))
 DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
 RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")
+PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
 
 
 def install():
@@ -70,7 +71,7 @@ def start_juggler(fn=None, dbc=None, layout=None):
   if layout is not None:
     extra_args += f" -l {layout}"
 
-  cmd = f'plotjuggler --plugin_folders {INSTALL_DIR}{extra_args}'
+  cmd = f'{PLOTJUGGLER_BIN} --plugin_folders {INSTALL_DIR}{extra_args}'
   subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 
 
@@ -149,6 +150,10 @@ if __name__ == "__main__":
     install()
     sys.exit()
 
+  if not os.path.exists(PLOTJUGGLER_BIN):
+    print("PlotJuggler is missing. Downloading...")
+    install()
+
   if args.stream:
     start_juggler(layout=args.layout)
   else: