diff --git a/scene/2d/navigation_agent_2d.cpp b/scene/2d/navigation_agent_2d.cpp
index d101cac4ebd..8dca7b52970 100644
--- a/scene/2d/navigation_agent_2d.cpp
+++ b/scene/2d/navigation_agent_2d.cpp
@@ -151,6 +151,10 @@ void NavigationAgent2D::_notification(int p_what) {
 			set_agent_parent(get_parent());
 			set_physics_process_internal(true);
 
+			if (agent_parent && avoidance_enabled) {
+				NavigationServer2D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
+			}
+
 #ifdef DEBUG_ENABLED
 			if (NavigationServer2D::get_singleton()->get_debug_enabled()) {
 				debug_path_dirty = true;
diff --git a/scene/2d/navigation_obstacle_2d.cpp b/scene/2d/navigation_obstacle_2d.cpp
index 2366cb696ef..a23de5646ac 100644
--- a/scene/2d/navigation_obstacle_2d.cpp
+++ b/scene/2d/navigation_obstacle_2d.cpp
@@ -63,6 +63,9 @@ void NavigationObstacle2D::_notification(int p_what) {
 		case NOTIFICATION_POST_ENTER_TREE: {
 			set_agent_parent(get_parent());
 			set_physics_process_internal(true);
+			if (parent_node2d && parent_node2d->is_inside_tree()) {
+				NavigationServer2D::get_singleton()->agent_set_position(agent, parent_node2d->get_global_position());
+			}
 		} break;
 
 		case NOTIFICATION_EXIT_TREE: {
diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 7d404ffa075..bd574257777 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -154,6 +154,10 @@ void NavigationAgent3D::_notification(int p_what) {
 			set_agent_parent(get_parent());
 			set_physics_process_internal(true);
 
+			if (agent_parent && avoidance_enabled) {
+				NavigationServer3D::get_singleton()->agent_set_position(agent, agent_parent->get_global_position());
+			}
+
 #ifdef DEBUG_ENABLED
 			if (NavigationServer3D::get_singleton()->get_debug_enabled()) {
 				debug_path_dirty = true;
diff --git a/scene/3d/navigation_obstacle_3d.cpp b/scene/3d/navigation_obstacle_3d.cpp
index 14d93fb0e03..66d14538d7a 100644
--- a/scene/3d/navigation_obstacle_3d.cpp
+++ b/scene/3d/navigation_obstacle_3d.cpp
@@ -62,6 +62,9 @@ void NavigationObstacle3D::_notification(int p_what) {
 		case NOTIFICATION_POST_ENTER_TREE: {
 			set_agent_parent(get_parent());
 			set_physics_process_internal(true);
+			if (parent_node3d && parent_node3d->is_inside_tree()) {
+				NavigationServer3D::get_singleton()->agent_set_position(agent, parent_node3d->get_global_position());
+			}
 		} break;
 
 		case NOTIFICATION_EXIT_TREE: {