diff --git a/Cargo.lock b/Cargo.lock
index 92096c48bd..b8818e5905 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -1118,6 +1118,7 @@ dependencies = [
 name = "bevyhavior_simulator"
 version = "0.1.0"
 dependencies = [
+ "approx",
  "ball_filter",
  "bevy",
  "bincode",
diff --git a/crates/bevyhavior_simulator/Cargo.toml b/crates/bevyhavior_simulator/Cargo.toml
index 7bc03a6179..5d3c8fccce 100644
--- a/crates/bevyhavior_simulator/Cargo.toml
+++ b/crates/bevyhavior_simulator/Cargo.toml
@@ -6,6 +6,7 @@ license.workspace = true
 homepage.workspace = true
 
 [dependencies]
+approx = { workspace = true }
 ball_filter = { workspace = true }
 bevy = { workspace = true }
 bincode = { workspace = true }
diff --git a/crates/bevyhavior_simulator/src/bin/visual_referee_free_kick_behavior.rs b/crates/bevyhavior_simulator/src/bin/visual_referee_free_kick_behavior.rs
new file mode 100644
index 0000000000..62395117e2
--- /dev/null
+++ b/crates/bevyhavior_simulator/src/bin/visual_referee_free_kick_behavior.rs
@@ -0,0 +1,143 @@
+use bevy::{ecs::system::SystemParam, prelude::*};
+
+use approx::AbsDiffEq;
+use linear_algebra::point;
+use scenario::scenario;
+use spl_network_messages::{GameState, PlayerNumber, SubState, Team};
+
+use bevyhavior_simulator::{
+    ball::BallResource,
+    game_controller::{GameController, GameControllerCommand},
+    robot::Robot,
+    time::{Ticks, TicksTime},
+};
+use types::{motion_command::HeadMotion, roles::Role};
+
+/// Is used to generate the test functions for cargo test
+#[scenario]
+fn visual_referee_free_kick_behavior(app: &mut App) {
+    app.add_systems(Startup, startup);
+    app.add_systems(Update, update);
+}
+
+#[derive(SystemParam)]
+struct State<'s> {
+    detecting_robots_when_home: Local<'s, usize>,
+    detecting_robots_when_away: Local<'s, usize>,
+}
+
+/// Runs at the start of the behavior simulator and is used to spawn in robots and set GameStates
+fn startup(
+    mut commands: Commands,
+    mut game_controller_commands: EventWriter<GameControllerCommand>,
+) {
+    for number in [
+        PlayerNumber::One,
+        PlayerNumber::Two,
+        PlayerNumber::Three,
+        PlayerNumber::Four,
+        PlayerNumber::Five,
+        PlayerNumber::Six,
+        PlayerNumber::Seven,
+    ] {
+        commands.spawn(Robot::new(number));
+    }
+    game_controller_commands.send(GameControllerCommand::SetGameState(GameState::Ready));
+}
+
+fn update(
+    mut game_controller: ResMut<GameController>,
+    mut game_controller_commands: EventWriter<GameControllerCommand>,
+    time: Res<Time<Ticks>>,
+    mut exit: EventWriter<AppExit>,
+    robots: Query<&mut Robot>,
+    mut ball: ResMut<BallResource>,
+    mut state: State,
+) {
+    if time.ticks() >= 10_000 {
+        println!("Scenario failed: Time ran out. Behavior for detecting free kick kicking team was not executed correctly.");
+        exit.send(AppExit::from_code(1));
+    }
+
+    if time.ticks() == 3000 {
+        // Set substate
+        game_controller_commands.send(GameControllerCommand::SetSubState(
+            Some(SubState::PushingFreeKick),
+            Team::Opponent,
+        ));
+    }
+
+    if time.ticks() == 3005 {
+        for relevant_robots in robots.iter().filter(|robot| {
+            matches!(
+                robot.database.main_outputs.role,
+                Role::DefenderRight | Role::MidfielderRight
+            )
+        }) {
+            if let Some(expected_referee_position) = relevant_robots
+                .database
+                .main_outputs
+                .expected_referee_position
+            {
+                let ground_to_field = relevant_robots.ground_to_field();
+                let expected_referee_position_in_ground =
+                    ground_to_field.inverse() * expected_referee_position;
+                if matches!(
+                    relevant_robots.database.main_outputs.motion_command.head_motion(),
+                    Some(HeadMotion::LookAt { target, .. }) if target.abs_diff_eq(&expected_referee_position_in_ground, 1e-4)
+                ) {
+                    *state.detecting_robots_when_home += 1;
+                }
+            }
+        }
+    }
+
+    if time.ticks() == 3500 {
+        // Set substate
+        game_controller_commands.send(GameControllerCommand::SetSubState(None, Team::Opponent));
+    }
+
+    if time.ticks() == 4000 {
+        // Set substate
+        game_controller_commands.send(GameControllerCommand::SetSubState(
+            Some(SubState::KickIn),
+            Team::Opponent,
+        ));
+
+        game_controller.state.hulks_team_is_home_after_coin_toss = false;
+
+        if let Some(ball) = ball.state.as_mut() {
+            ball.position = point!(2.0, 4.5);
+        }
+    }
+    if time.ticks() == 4002 {
+        for relevant_robot in robots.iter().filter(|robot| {
+            matches!(
+                robot.database.main_outputs.role,
+                Role::DefenderLeft | Role::MidfielderLeft
+            )
+        }) {
+            if let Some(expected_referee_position) = relevant_robot
+                .database
+                .main_outputs
+                .expected_referee_position
+            {
+                let ground_to_field = relevant_robot.ground_to_field();
+                let expected_referee_position_in_ground =
+                    ground_to_field.inverse() * expected_referee_position;
+
+                if matches!(
+                    relevant_robot.database.main_outputs.motion_command.head_motion(),
+                    Some(HeadMotion::LookAt { target, .. }) if target.abs_diff_eq(&expected_referee_position_in_ground, 1e-4)
+                ) {
+                    *state.detecting_robots_when_away += 1;
+                }
+            }
+        }
+    }
+
+    if (*state.detecting_robots_when_home == 2) && (*state.detecting_robots_when_away == 2) {
+        println!("Done! Successfully performed behavior for free kick kicking team detection.");
+        exit.send(AppExit::Success);
+    }
+}
diff --git a/crates/bevyhavior_simulator/src/game_controller.rs b/crates/bevyhavior_simulator/src/game_controller.rs
index 8a11bcac66..b54377e64a 100644
--- a/crates/bevyhavior_simulator/src/game_controller.rs
+++ b/crates/bevyhavior_simulator/src/game_controller.rs
@@ -70,9 +70,11 @@ fn game_controller_controller(
             }
             GameControllerCommand::SetSubState(sub_state, team) => {
                 game_controller.state.sub_state = sub_state;
-                game_controller.state.kicking_team = Some(team);
                 if sub_state == Some(SubState::PenaltyKick) {
+                    game_controller.state.kicking_team = Some(team);
                     game_controller.state.game_state = GameState::Ready;
+                } else {
+                    game_controller.state.kicking_team = None;
                 }
                 state.last_state_change = time.as_generic();
             }