diff --git a/Marlin/Marlin_main.cpp b/Marlin/Marlin_main.cpp
index 162550e43b..87fb0db061 100644
--- a/Marlin/Marlin_main.cpp
+++ b/Marlin/Marlin_main.cpp
@@ -2192,10 +2192,20 @@ static void do_homing_move(const AxisEnum axis, float distance, float fr_mm_s=0.
     if (deploy_bltouch) set_bltouch_deployed(true);
   #endif
 
+  // Tell the planner we're at Z=0
   current_position[axis] = 0;
-  sync_plan_position();
-  current_position[axis] = distance;
-  planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
+
+  #if IS_SCARA
+    SYNC_PLAN_POSITION_KINEMATIC();
+    current_position[axis] = distance;
+    inverse_kinematics(current_position);
+    planner.buffer_line(delta[A_AXIS], delta[B_AXIS], delta[C_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
+  #else
+    sync_plan_position();
+    current_position[axis] = distance;
+    planner.buffer_line(current_position[X_AXIS], current_position[Y_AXIS], current_position[Z_AXIS], current_position[E_AXIS], fr_mm_s ? fr_mm_s : homing_feedrate_mm_s[axis], active_extruder);
+  #endif
+
   stepper.synchronize();
 
   #if HOMING_Z_WITH_PROBE && ENABLED(BLTOUCH)