diff --git a/common/motion_utils/src/resample/resample.cpp b/common/motion_utils/src/resample/resample.cpp
index 909d027991976..a6695d36d8f38 100644
--- a/common/motion_utils/src/resample/resample.cpp
+++ b/common/motion_utils/src/resample/resample.cpp
@@ -14,6 +14,8 @@
 
 #include "motion_utils/resample/resample.hpp"
 
+#include "tier4_autoware_utils/geometry/geometry.hpp"
+
 namespace motion_utils
 {
 std::vector<geometry_msgs::msg::Pose> resamplePath(
@@ -76,17 +78,37 @@ std::vector<geometry_msgs::msg::Pose> resamplePath(
     resampled_points.at(i) = pose;
   }
 
+  const bool is_driving_forward =
+    tier4_autoware_utils::isDrivingForward(points.at(0), points.at(1));
   // Insert Orientation
-  for (size_t i = 0; i < resampled_points.size() - 1; ++i) {
-    const auto & src_point = resampled_points.at(i).position;
-    const auto & dst_point = resampled_points.at(i + 1).position;
-    const double pitch = tier4_autoware_utils::calcElevationAngle(src_point, dst_point);
-    const double yaw = tier4_autoware_utils::calcAzimuthAngle(src_point, dst_point);
-    resampled_points.at(i).orientation =
-      tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, yaw);
-    if (i == resampled_points.size() - 2) {
-      // Terminal Orientation is same as the point before it
-      resampled_points.at(i + 1).orientation = resampled_points.at(i).orientation;
+  if (is_driving_forward) {
+    for (size_t i = 0; i < resampled_points.size() - 1; ++i) {
+      const auto & src_point = resampled_points.at(i).position;
+      const auto & dst_point = resampled_points.at(i + 1).position;
+      const double pitch = tier4_autoware_utils::calcElevationAngle(src_point, dst_point);
+      const double yaw = tier4_autoware_utils::calcAzimuthAngle(src_point, dst_point);
+      resampled_points.at(i).orientation =
+        tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, yaw);
+      if (i == resampled_points.size() - 2) {
+        // Terminal Orientation is same as the point before it
+        resampled_points.at(i + 1).orientation = resampled_points.at(i).orientation;
+      }
+    }
+  } else {
+    for (size_t i = resampled_points.size() - 1; i >= 1; --i) {
+      const auto & src_point = resampled_points.at(i).position;
+      const auto & dst_point = resampled_points.at(i - 1).position;
+      const double pitch = tier4_autoware_utils::calcElevationAngle(src_point, dst_point);
+      const double yaw = tier4_autoware_utils::calcAzimuthAngle(src_point, dst_point);
+      resampled_points.at(i).orientation =
+        tier4_autoware_utils::createQuaternionFromRPY(0.0, pitch, yaw);
+    }
+
+    // Initial Orientation is depend on the initial value of the resampled_arclength
+    if (resampled_arclength.front() < 1e-3) {
+      resampled_points.at(0).orientation = points.at(0).orientation;
+    } else {
+      resampled_points.at(0).orientation = resampled_points.at(1).orientation;
     }
   }
 
diff --git a/common/motion_utils/test/src/resample/test_resample.cpp b/common/motion_utils/test/src/resample/test_resample.cpp
index fdade010a5064..a1acaf948f0d8 100644
--- a/common/motion_utils/test/src/resample/test_resample.cpp
+++ b/common/motion_utils/test/src/resample/test_resample.cpp
@@ -380,6 +380,184 @@ TEST(resample_path, resample_path_by_vector)
   }
 }
 
+TEST(resample_path, resample_path_by_vector_backward)
+{
+  using motion_utils::resamplePath;
+
+  {
+    autoware_auto_planning_msgs::msg::Path path;
+    path.points.resize(10);
+    for (size_t i = 0; i < 10; ++i) {
+      path.points.at(i) = generateTestPathPoint(i * 1.0, 0.0, 0.0, M_PI, i * 1.0, i * 0.5, i * 0.1);
+    }
+    std::vector<double> resampled_arclength = {0.0, 1.2, 1.5, 5.3, 7.5, 9.0};
+
+    const auto resampled_path = resamplePath(path, resampled_arclength);
+
+    {
+      const auto p = resampled_path.points.at(0);
+      EXPECT_NEAR(p.pose.position.x, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 0.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 0.0, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.0, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(1);
+      EXPECT_NEAR(p.pose.position.x, 1.2, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 1.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 0.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.12, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(2);
+      EXPECT_NEAR(p.pose.position.x, 1.5, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 1.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 0.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.15, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(3);
+      EXPECT_NEAR(p.pose.position.x, 5.3, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 5.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 2.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.53, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(4);
+      EXPECT_NEAR(p.pose.position.x, 7.5, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 7.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 3.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.75, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(5);
+      EXPECT_NEAR(p.pose.position.x, 9.0, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 9.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 4.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.9, epsilon);
+    }
+
+    const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(M_PI);
+    for (size_t i = 0; i < resampled_path.points.size(); ++i) {
+      const auto p = resampled_path.points.at(i);
+      EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
+      EXPECT_NEAR(p.pose.orientation.y, ans_quat.y, epsilon);
+      EXPECT_NEAR(p.pose.orientation.z, ans_quat.z, epsilon);
+      EXPECT_NEAR(p.pose.orientation.w, ans_quat.w, epsilon);
+    }
+  }
+
+  // change initial orientation
+  {
+    autoware_auto_planning_msgs::msg::Path path;
+    path.points.resize(10);
+    for (size_t i = 0; i < 10; ++i) {
+      path.points.at(i) = generateTestPathPoint(i * 1.0, 0.0, 0.0, M_PI, i * 1.0, i * 0.5, i * 0.1);
+    }
+    path.points.at(0).pose.orientation =
+      tier4_autoware_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
+    std::vector<double> resampled_arclength = {0.0, 1.2, 1.5, 5.3, 7.5, 9.0};
+
+    const auto resampled_path = resamplePath(path, resampled_arclength);
+
+    {
+      const auto p = resampled_path.points.at(0);
+      EXPECT_NEAR(p.pose.position.x, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 0.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 0.0, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.0, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(1);
+      EXPECT_NEAR(p.pose.position.x, 1.2, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 1.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 0.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.12, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(2);
+      EXPECT_NEAR(p.pose.position.x, 1.5, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 1.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 0.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.15, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(3);
+      EXPECT_NEAR(p.pose.position.x, 5.3, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 5.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 2.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.53, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(4);
+      EXPECT_NEAR(p.pose.position.x, 7.5, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 7.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 3.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.75, epsilon);
+    }
+
+    {
+      const auto p = resampled_path.points.at(5);
+      EXPECT_NEAR(p.pose.position.x, 9.0, epsilon);
+      EXPECT_NEAR(p.pose.position.y, 0.0, epsilon);
+      EXPECT_NEAR(p.pose.position.z, 0.0, epsilon);
+      EXPECT_NEAR(p.longitudinal_velocity_mps, 9.0, epsilon);
+      EXPECT_NEAR(p.lateral_velocity_mps, 4.5, epsilon);
+      EXPECT_NEAR(p.heading_rate_rps, 0.9, epsilon);
+    }
+
+    // Initial Orientation
+    {
+      const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(M_PI + M_PI / 3.0);
+      const auto p = resampled_path.points.at(0);
+      EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
+      EXPECT_NEAR(p.pose.orientation.y, ans_quat.y, epsilon);
+      EXPECT_NEAR(p.pose.orientation.z, ans_quat.z, epsilon);
+      EXPECT_NEAR(p.pose.orientation.w, ans_quat.w, epsilon);
+    }
+
+    const auto ans_quat = tier4_autoware_utils::createQuaternionFromYaw(M_PI);
+    for (size_t i = 1; i < resampled_path.points.size(); ++i) {
+      const auto p = resampled_path.points.at(i);
+      EXPECT_NEAR(p.pose.orientation.x, ans_quat.x, epsilon);
+      EXPECT_NEAR(p.pose.orientation.y, ans_quat.y, epsilon);
+      EXPECT_NEAR(p.pose.orientation.z, ans_quat.z, epsilon);
+      EXPECT_NEAR(p.pose.orientation.w, ans_quat.w, epsilon);
+    }
+  }
+}
+
 TEST(resample_path, resample_path_by_vector_non_default)
 {
   using motion_utils::resamplePath;