diff --git a/mjx/mujoco/mjx/_src/forward.py b/mjx/mujoco/mjx/_src/forward.py
index bb01727d..2a0e946e 100644
--- a/mjx/mujoco/mjx/_src/forward.py
+++ b/mjx/mujoco/mjx/_src/forward.py
@@ -334,6 +334,9 @@ def _advance(
   # advance time
   time = d.time + m.opt.timestep
 
+  # save qacc for next step warmstart
+  d = d.replace(qacc_warmstart=d.qacc)
+
   return d.replace(act=act, qpos=qpos, time=time)
 
 
diff --git a/mjx/mujoco/mjx/_src/solver.py b/mjx/mujoco/mjx/_src/solver.py
index f57dbd1c..6ac37f19 100644
--- a/mjx/mujoco/mjx/_src/solver.py
+++ b/mjx/mujoco/mjx/_src/solver.py
@@ -602,7 +602,6 @@ def solve(m: Model, d: Data) -> Data:
     ctx = jax.lax.while_loop(cond, body, ctx)
 
   d = d.tree_replace({
-      'qacc_warmstart': ctx.qacc,
       'qfrc_constraint': ctx.qfrc_constraint,
       'qacc': ctx.qacc,
       '_impl.efc_force': ctx.efc_force,