diff --git a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
index f3af759875250..83ccb6c3a8c65 100644
--- a/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
+++ b/launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml
@@ -12,7 +12,7 @@
       min_acc: -0.5
       enable_shift_parking: true
       enable_arc_forward_parking: true
-      enable_arc_backward_parking: false
+      enable_arc_backward_parking: true
       # goal research
       search_priority: "efficient_path" # "efficient_path" or "close_goal"
       enable_goal_research: true
diff --git a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml
index 814b09b6ba8ec..2ca8f21d3c9b4 100644
--- a/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml
+++ b/planning/behavior_path_planner/config/pull_over/pull_over.param.yaml
@@ -12,7 +12,7 @@
       min_acc: -0.5
       enable_shift_parking: true
       enable_arc_forward_parking: true
-      enable_arc_backward_parking: false
+      enable_arc_backward_parking: true
       # goal research
       search_priority: "efficient_path" # "efficient_path" or "close_goal"
       enable_goal_research: true
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index bc2a50e3ae4f9..3f1da72939671 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -371,7 +371,7 @@ PullOverParameters BehaviorPathPlannerNode::getPullOverParam()
   p.min_acc = dp("min_acc", -0.5);
   p.enable_shift_parking = dp("enable_shift_parking", true);
   p.enable_arc_forward_parking = dp("enable_arc_forward_parking", true);
-  p.enable_arc_backward_parking = dp("enable_arc_backward_parking", false);
+  p.enable_arc_backward_parking = dp("enable_arc_backward_parking", true);
   // goal research
   p.search_priority = dp("search_priority", "efficient_path");
   p.enable_goal_research = dp("enable_goal_research", true);