diff --git a/scene/animation/skeleton_ik.cpp b/scene/animation/skeleton_ik.cpp
index 518c243dd0e..46028a9ce2d 100644
--- a/scene/animation/skeleton_ik.cpp
+++ b/scene/animation/skeleton_ik.cpp
@@ -329,6 +329,17 @@ void FabrikInverseKinematic::solve(Task *p_task, real_t blending_delta, bool ove
 	}
 }
 
+void FabrikInverseKinematic::reset(Task *p_task) {
+	ChainItem *ci(&p_task->chain.chain_root);
+	while (ci) {
+		p_task->skeleton->set_bone_global_pose_override(ci->bone, Transform(), 0);
+		if (!ci->children.empty())
+			ci = &ci->children.write[0];
+		else
+			ci = NULL;
+	}
+}
+
 void SkeletonIK::_validate_property(PropertyInfo &property) const {
 
 	if (property.name == "root_bone" || property.name == "tip_bone") {
@@ -531,6 +542,8 @@ void SkeletonIK::start(bool p_one_time) {
 
 void SkeletonIK::stop() {
 	set_process_internal(false);
+	if (task)
+		FabrikInverseKinematic::reset(task);
 }
 
 Transform SkeletonIK::_get_target_transform() {
diff --git a/scene/animation/skeleton_ik.h b/scene/animation/skeleton_ik.h
index 9ae010dc4e4..8fc8a58b998 100644
--- a/scene/animation/skeleton_ik.h
+++ b/scene/animation/skeleton_ik.h
@@ -139,6 +139,7 @@ public:
 	static void set_goal(Task *p_task, const Transform &p_goal);
 	static void make_goal(Task *p_task, const Transform &p_inverse_transf, real_t blending_delta);
 	static void solve(Task *p_task, real_t blending_delta, bool override_tip_basis, bool p_use_magnet, const Vector3 &p_magnet_position);
+	static void reset(Task *p_task);
 };
 
 class SkeletonIK : public Node {