diff --git a/CHANGELOG.md b/CHANGELOG.md
index b8ac44a58e2..48edbe5a24b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,11 @@
 
 ## master
 * Fixed an issue where swiping the banner down after the StepsTableViewController has already displayed could put the UI in an unstable state. ([#2197](https://github.com/mapbox/mapbox-navigation-ios/pull/2197))
+* If the user walks away from the route, they may be rerouted onto a route that initially travels in the opposite direction. This is only the case along steps that require walking on foot. ([#2215](https://github.com/mapbox/mapbox-navigation-ios/pull/2215))
+* While the user is walking, the map rotates according to the user’s heading instead of their course. ([#2215](https://github.com/mapbox/mapbox-navigation-ios/pull/2215))
+* Added the `NavigationMapView.updateCourseTracking(location:heading:camera:animated:)` method for manually forcing the map view and user course view to update according to a location or heading. ([#2215](https://github.com/mapbox/mapbox-navigation-ios/pull/2215))
+* Added `RouteControllerNotificationUserInfoKey.headingKey` to the user info dictionary of `Notification.Name.routeControllerWillReroute`, `Notification.Name.routeControllerDidReroute`, and `Notification.Name.routeControllerProgressDidChange` notifications. ([#2215](https://github.com/mapbox/mapbox-navigation-ios/pull/2215))
+* Added a `Router.heading` property that may contain a heading from the location manager. ([#2215](https://github.com/mapbox/mapbox-navigation-ios/pull/2215))
 
 ## v0.36.0
 
diff --git a/Example/CustomViewController.swift b/Example/CustomViewController.swift
index b45faca65d6..bfbbd0d1efc 100644
--- a/Example/CustomViewController.swift
+++ b/Example/CustomViewController.swift
@@ -91,6 +91,7 @@ class CustomViewController: UIViewController, MGLMapViewDelegate {
         
         let routeProgress = notification.userInfo![RouteControllerNotificationUserInfoKey.routeProgressKey] as! RouteProgress
         let location = notification.userInfo![RouteControllerNotificationUserInfoKey.locationKey] as! CLLocation
+        let heading = notification.userInfo![RouteControllerNotificationUserInfoKey.headingKey] as? CLHeading
         
         // Add maneuver arrow
         if routeProgress.currentLegProgress.followOnStep != nil {
@@ -104,7 +105,7 @@ class CustomViewController: UIViewController, MGLMapViewDelegate {
         instructionsBannerView.isHidden = false
         
         // Update the user puck
-        mapView.updateCourseTracking(location: location, animated: true)
+        mapView.updateCourseTracking(location: location, heading: heading, animated: true)
     }
     
     @objc func updateInstructionsBanner(notification: NSNotification) {
diff --git a/MapboxCoreNavigation/CoreConstants.swift b/MapboxCoreNavigation/CoreConstants.swift
index 4c94d802254..94072a7d8ef 100644
--- a/MapboxCoreNavigation/CoreConstants.swift
+++ b/MapboxCoreNavigation/CoreConstants.swift
@@ -136,21 +136,21 @@ extension Notification.Name {
     /**
      Posted after the user diverges from the expected route, just before `RouteController` attempts to calculate a new route.
      
-     The user info dictionary contains the key `RouteControllerNotificationUserInfoKey.locationKey`.
+     The user info dictionary contains the keys `RouteControllerNotificationUserInfoKey.locationKey` and `RouteControllerNotificationUserInfoKey.headingKey`.
      */
     public static let routeControllerWillReroute = MBRouteControllerWillReroute
     
     /**
      Posted when `RouteController` obtains a new route in response to the user diverging from a previous route.
      
-     The user info dictionary contains the keys `RouteControllerNotificationUserInfoKey.locationKey` and `RouteControllerNotificationUserInfoKey.isProactiveKey`.
+     The user info dictionary contains the keys `RouteControllerNotificationUserInfoKey.locationKey`, `RouteControllerNotificationUserInfoKey.headingKey`, and `RouteControllerNotificationUserInfoKey.isProactiveKey`.
      */
     public static let routeControllerDidReroute = MBRouteControllerDidReroute
     
     /**
      Posted when `RouteController` receives a user location update representing movement along the expected route.
      
-     The user info dictionary contains the keys `RouteControllerNotificationUserInfoKey.routeProgressKey`, `RouteControllerNotificationUserInfoKey.locationKey`, and `RouteControllerNotificationUserInfoKey.rawLocationKey`.
+     The user info dictionary contains the keys `RouteControllerNotificationUserInfoKey.routeProgressKey`, `RouteControllerNotificationUserInfoKey.locationKey`, `RouteControllerNotificationUserInfoKey.headingKey`, and `RouteControllerNotificationUserInfoKey.rawLocationKey`.
      */
     public static let routeControllerProgressDidChange = MBRouteControllerProgressDidChange
     
diff --git a/MapboxCoreNavigation/LegacyRouteController.swift b/MapboxCoreNavigation/LegacyRouteController.swift
index 089c5d6181d..35e3c5b9840 100644
--- a/MapboxCoreNavigation/LegacyRouteController.swift
+++ b/MapboxCoreNavigation/LegacyRouteController.swift
@@ -123,7 +123,7 @@ open class LegacyRouteController: NSObject, Router, InternalRouter, CLLocationMa
         return rawLocation?.snapped(to: routeProgress)
     }
 
-    var heading: CLHeading?
+    public var heading: CLHeading?
 
     /**
      The most recently received user location.
@@ -224,6 +224,7 @@ open class LegacyRouteController: NSObject, Router, InternalRouter, CLLocationMa
     
     @objc public func locationManager(_ manager: CLLocationManager, didUpdateHeading newHeading: CLHeading) {
         heading = newHeading
+        // TODO: Cause a map view to update its camera.
     }
 
     @objc public func locationManager(_ manager: CLLocationManager, didUpdateLocations locations: [CLLocation]) {
@@ -300,11 +301,14 @@ open class LegacyRouteController: NSObject, Router, InternalRouter, CLLocationMa
             delegate?.router?(self, didUpdate: progress, with: location, rawLocation: rawLocation)
             
             //Fire the notification (for now)
-            NotificationCenter.default.post(name: .routeControllerProgressDidChange, object: self, userInfo: [
-                RouteControllerNotificationUserInfoKey.routeProgressKey: progress,
-                RouteControllerNotificationUserInfoKey.locationKey: location, //guaranteed value
-                RouteControllerNotificationUserInfoKey.rawLocationKey: rawLocation //raw
-                ])
+            var userInfo: [RouteControllerNotificationUserInfoKey: Any] = [
+                .routeProgressKey: progress,
+                .locationKey: location, //guaranteed value
+                .rawLocationKey: rawLocation, //raw
+            ]
+            userInfo[.headingKey] = heading
+            userInfo[.rawHeadingKey] = heading // heading snapping not yet implemented (an unnecessary?)
+            NotificationCenter.default.post(name: .routeControllerProgressDidChange, object: self, userInfo: userInfo)
         }
     }
         
@@ -353,13 +357,15 @@ open class LegacyRouteController: NSObject, Router, InternalRouter, CLLocationMa
         isRerouting = true
 
         delegate?.router?(self, willRerouteFrom: location)
-        NotificationCenter.default.post(name: .routeControllerWillReroute, object: self, userInfo: [
-            RouteControllerNotificationUserInfoKey.locationKey: location
-        ])
+        var userInfo: [RouteControllerNotificationUserInfoKey: Any] = [
+            .locationKey: location,
+        ]
+        userInfo[.headingKey] = heading
+        NotificationCenter.default.post(name: .routeControllerWillReroute, object: self, userInfo: userInfo)
 
         self.lastRerouteLocation = location
 
-        getDirections(from: location, along: progress) { [weak self] (route, error) in
+        getDirections(from: location, routeProgress: progress) { [weak self] (route, error) in
             guard let strongSelf = self else {
                 return
             }
diff --git a/MapboxCoreNavigation/MBRouteController.h b/MapboxCoreNavigation/MBRouteController.h
index 517934a8c79..bfbf603f66c 100644
--- a/MapboxCoreNavigation/MBRouteController.h
+++ b/MapboxCoreNavigation/MBRouteController.h
@@ -79,6 +79,16 @@ extern const _Nonnull MBRouteControllerNotificationUserInfoKey MBRouteController
  */
 extern const _Nonnull MBRouteControllerNotificationUserInfoKey MBRouteControllerRawLocationKey;
 
+/**
+ A key in the user info dictionary of a `MBRouteControllerProgressDidChangeNotification` or `MBRouteControllerWillRerouteNotification` notification. The corresponding value is a `CLHeading` object representing the current idealized user heading. The value may be `nil`.
+ */
+extern const _Nonnull MBRouteControllerNotificationUserInfoKey MBRouteControllerHeadingKey;
+
+/**
+ A key in the user info dictionary of a `MBRouteControllerProgressDidChangeNotification` or `MBRouteControllerWillRerouteNotification` notification. The corresponding value is a `CLHeading` object representing the current raw user heading. The value may be `nil`.
+ */
+extern const _Nonnull MBRouteControllerNotificationUserInfoKey MBRouteControllerRawHeadingKey;
+
 /**
  A key in the user info dictionary of a `MBRouteControllerDidFailToRerouteNotification` notification. The corresponding value is an `NSError` object indicating why `RouteController` was unable to calculate a new route.
  */
diff --git a/MapboxCoreNavigation/MBRouteController.m b/MapboxCoreNavigation/MBRouteController.m
index 940d235e54f..b41dd1351f5 100644
--- a/MapboxCoreNavigation/MBRouteController.m
+++ b/MapboxCoreNavigation/MBRouteController.m
@@ -11,6 +11,8 @@
 const MBRouteControllerNotificationUserInfoKey MBRouteControllerRouteProgressKey              = @"progress";
 const MBRouteControllerNotificationUserInfoKey MBRouteControllerLocationKey                   = @"location";
 const MBRouteControllerNotificationUserInfoKey MBRouteControllerRawLocationKey                = @"rawLocation";
+const MBRouteControllerNotificationUserInfoKey MBRouteControllerHeadingKey                    = @"heading";
+const MBRouteControllerNotificationUserInfoKey MBRouteControllerRawHeadingKey                 = @"rawHeading";
 const MBRouteControllerNotificationUserInfoKey MBRouteControllerRoutingErrorKey               = @"error";
 const MBRouteControllerNotificationUserInfoKey MBRouteControllerVisualInstructionKey          = @"visualInstruction";
 const MBRouteControllerNotificationUserInfoKey MBRouteControllerSpokenInstructionKey          = @"spokenInstruction";
diff --git a/MapboxCoreNavigation/RouteController.swift b/MapboxCoreNavigation/RouteController.swift
index d009f49b835..a0145f49157 100644
--- a/MapboxCoreNavigation/RouteController.swift
+++ b/MapboxCoreNavigation/RouteController.swift
@@ -96,7 +96,7 @@ open class RouteController: NSObject {
         return CLLocation(status.location)
     }
     
-    var heading: CLHeading?
+    public var heading: CLHeading?
     
     /**
      The most recently received user location.
@@ -158,6 +158,11 @@ open class RouteController: NSObject {
         navigator.setRouteForRouteResponse(jsonString, route: 0, leg: 0)
     }
     
+    @objc public func locationManager(_ manager: CLLocationManager, didUpdateHeading newHeading: CLHeading) {
+        heading = newHeading
+        // TODO: Cause a map view to update its camera.
+    }
+    
     public func locationManager(_ manager: CLLocationManager, didUpdateLocations locations: [CLLocation]) {
         
         guard let location = locations.last else { return }
@@ -168,7 +173,9 @@ open class RouteController: NSObject {
         
         rawLocation = locations.last
         
-        locations.forEach { navigator.updateLocation(for: MBFixLocation($0)) }
+        for location in locations {
+            navigator.updateLocation(for: MBFixLocation(location))
+        }
         
         let status = navigator.getStatusForTimestamp(location.timestamp)
         
@@ -276,11 +283,14 @@ open class RouteController: NSObject {
             delegate?.router?(self, didUpdate: progress, with: location, rawLocation: rawLocation)
             
             //Fire the notification (for now)
-            NotificationCenter.default.post(name: .routeControllerProgressDidChange, object: self, userInfo: [
-                RouteControllerNotificationUserInfoKey.routeProgressKey: progress,
-                RouteControllerNotificationUserInfoKey.locationKey: location, //guaranteed value
-                RouteControllerNotificationUserInfoKey.rawLocationKey: rawLocation //raw
-                ])
+            var userInfo: [RouteControllerNotificationUserInfoKey: Any] = [
+                .routeProgressKey: progress,
+                .locationKey: location, //guaranteed value
+                .rawLocationKey: rawLocation, //raw
+            ]
+            userInfo[.headingKey] = heading
+            userInfo[.rawHeadingKey] = heading // heading snapping not yet implemented (an unnecessary?)
+            NotificationCenter.default.post(name: .routeControllerProgressDidChange, object: self, userInfo: userInfo)
         }
     }
     
@@ -358,9 +368,11 @@ extension RouteController: Router {
         }
         
         delegate?.router?(self, willRerouteFrom: location)
-        NotificationCenter.default.post(name: .routeControllerWillReroute, object: self, userInfo: [
-            RouteControllerNotificationUserInfoKey.locationKey: location
-            ])
+        var userInfo: [RouteControllerNotificationUserInfoKey: Any] = [
+            .locationKey: location,
+        ]
+        userInfo[.headingKey] = heading
+        NotificationCenter.default.post(name: .routeControllerWillReroute, object: self, userInfo: userInfo)
         
         self.lastRerouteLocation = location
         
@@ -368,7 +380,7 @@ extension RouteController: Router {
         if isRerouting { return }
         isRerouting = true
         
-        getDirections(from: location, along: progress) { [weak self] (route, error) in
+        getDirections(from: location, routeProgress: progress) { [weak self] (route, error) in
             self?.isRerouting = false
             
             guard let strongSelf: RouteController = self else {
diff --git a/MapboxCoreNavigation/RouteProgress.swift b/MapboxCoreNavigation/RouteProgress.swift
index 164b812c654..41ab7c00642 100644
--- a/MapboxCoreNavigation/RouteProgress.swift
+++ b/MapboxCoreNavigation/RouteProgress.swift
@@ -253,12 +253,14 @@ open class RouteProgress: NSObject {
         }
     }
 
-    func reroutingOptions(with current: CLLocation) -> RouteOptions {
+    func reroutingOptions(from location: CLLocation) -> RouteOptions {
         let oldOptions = route.routeOptions
-        let user = Waypoint(coordinate: current.coordinate)
+        let user = Waypoint(coordinate: location.coordinate)
 
-        if (current.course >= 0) {
-            user.heading = current.course
+        // A pedestrian can turn on a dime; there’s no problem with a route that starts out by turning the pedestrian around.
+        let transportType = currentLegProgress.currentStep.transportType
+        if transportType != .walking && location.course >= 0 {
+            user.heading = location.course
             user.headingAccuracy = RouteProgress.reroutingAccuracy
         }
         let newWaypoints = [user] + remainingWaypointsForCalculatingRoute()
diff --git a/MapboxCoreNavigation/Router.swift b/MapboxCoreNavigation/Router.swift
index 9fc3d460c93..07e84d87470 100644
--- a/MapboxCoreNavigation/Router.swift
+++ b/MapboxCoreNavigation/Router.swift
@@ -67,6 +67,10 @@ public protocol RouterDataSource {
      */
     @objc var rawLocation: CLLocation? { get }
     
+    /**
+     The most recently received user heading, if any.
+     */
+    @objc var heading: CLHeading? { get }
     
     /**
      If true, the `RouteController` attempts to calculate a more optimal route for the user on an interval defined by `RouteControllerProactiveReroutingInterval`.
@@ -135,7 +139,7 @@ extension InternalRouter where Self: Router {
         if isRerouting { return }
         isRerouting = true
         
-        getDirections(from: location, along: routeProgress) { [weak self] (route, error) in
+        getDirections(from: location, routeProgress: routeProgress) { [weak self] (route, error) in
             self?.isRerouting = false
             
             guard let route = route else { return }
@@ -156,9 +160,9 @@ extension InternalRouter where Self: Router {
         }
     }
     
-    func getDirections(from location: CLLocation, along progress: RouteProgress, completion: @escaping (_ route: Route?, _ error: Error?)->Void) {
+    func getDirections(from location: CLLocation, routeProgress: RouteProgress, completion: @escaping (_ route: Route?, _ error: Error?)->Void) {
         routeTask?.cancel()
-        let options = progress.reroutingOptions(with: location)
+        let options = routeProgress.reroutingOptions(from: location)
         
         lastRerouteLocation = location
         
@@ -168,7 +172,7 @@ extension InternalRouter where Self: Router {
                 return completion(nil, error)
             }
             
-            let mostSimilar = routes.mostSimilar(to: progress.route)
+            let mostSimilar = routes.mostSimilar(to: routeProgress.route)
             return completion(mostSimilar ?? routes.first, error)
         }
     }
@@ -188,9 +192,8 @@ extension InternalRouter where Self: Router {
     
     func announce(reroute newRoute: Route, at location: CLLocation?, proactive: Bool) {
         var userInfo = [RouteControllerNotificationUserInfoKey: Any]()
-        if let location = location {
-            userInfo[.locationKey] = location
-        }
+        userInfo[.locationKey] = location
+        userInfo[.headingKey] = heading
         userInfo[.isProactiveKey] = proactive
         NotificationCenter.default.post(name: .routeControllerDidReroute, object: self, userInfo: userInfo)
         delegate?.router?(self, didRerouteAlong: routeProgress.route, at: location, proactive: proactive)
diff --git a/MapboxNavigation/CarPlayNavigationViewController.swift b/MapboxNavigation/CarPlayNavigationViewController.swift
index adf044a9cfa..4bd74abaa1b 100644
--- a/MapboxNavigation/CarPlayNavigationViewController.swift
+++ b/MapboxNavigation/CarPlayNavigationViewController.swift
@@ -272,7 +272,7 @@ public class CarPlayNavigationViewController: UIViewController, NavigationMapVie
         // Update the user puck
         mapView?.updatePreferredFrameRate(for: routeProgress)
         let camera = MGLMapCamera(lookingAtCenter: location.coordinate, altitude: 120, pitch: 60, heading: location.course)
-        mapView?.updateCourseTracking(location: location, camera: camera, animated: true)
+        mapView?.updateCourseTracking(location: location, heading: nil, camera: camera, animated: true)
         
         let congestionLevel = routeProgress.averageCongestionLevelRemainingOnLeg ?? .unknown
         guard let maneuver = carSession.upcomingManeuvers.first else { return }
diff --git a/MapboxNavigation/NavigationMapView.swift b/MapboxNavigation/NavigationMapView.swift
index 2cd234324e2..7ca871b34aa 100644
--- a/MapboxNavigation/NavigationMapView.swift
+++ b/MapboxNavigation/NavigationMapView.swift
@@ -178,7 +178,8 @@ open class NavigationMapView: MGLMapView, UIGestureRecognizerDelegate {
                 courseTrackingDelegate?.navigationMapViewDidStopTrackingCourse?(self)
             }
             if let location = userLocationForCourseTracking {
-                updateCourseTracking(location: location, animated: true)
+                // TODO: Is it OK to use the course until the next location update?
+                updateCourseTracking(location: location, heading: nil, animated: true)
             }
         }
     }
@@ -193,7 +194,8 @@ open class NavigationMapView: MGLMapView, UIGestureRecognizerDelegate {
             oldValue?.removeFromSuperview()
             if let userCourseView = userCourseView {
                 if let location = userLocationForCourseTracking {
-                    updateCourseTracking(location: location, animated: false)
+                    // TODO: Is it OK to use the course until the next location update?
+                    updateCourseTracking(location: location, heading: nil, animated: false)
                 } else {
                     userCourseView.center = userAnchorPoint
                 }
@@ -256,8 +258,9 @@ open class NavigationMapView: MGLMapView, UIGestureRecognizerDelegate {
         super.layoutSubviews()
         
         //If the map is in tracking mode, make sure we update the camera after the layout pass.
-        if (tracksUserCourse) {
-            updateCourseTracking(location: userLocationForCourseTracking, camera:self.camera, animated: false)
+        if tracksUserCourse {
+            // TODO: Is it OK to use course until the next location update?
+            updateCourseTracking(location: userLocationForCourseTracking, heading: nil, camera: camera, animated: false)
         }
     }
     
@@ -325,7 +328,22 @@ open class NavigationMapView: MGLMapView, UIGestureRecognizerDelegate {
         tracksUserCourse = false
     }
     
+    @available(*, deprecated, message: "Use updateCourseTracking(location:heading:camera:animated:) instead.")
     @objc public func updateCourseTracking(location: CLLocation?, camera: MGLMapCamera? = nil, animated: Bool = false) {
+        updateCourseTracking(location: location, heading: nil, camera: camera, animated: animated)
+    }
+    
+    /**
+     Transitions the map view’s camera and user course view to reflect the given user location.
+     
+     If `tracksUserCourse` is set to `false`, this method does not reflect the user location; it only synchronizes the user course view with the map.
+     
+     - parameter location: The location that the map view will focus on.
+     - parameter heading: The direction the map view will face. If this parameter is `nil`, the `location` parameter’s `CLLocation.course` property is used instead. Only set this parameter to `CLLocationManager.heading` if the user is walking or using a vehicle with a very small turning radius.
+     - parameter camera: The camera to transition to. If this parameter is `nil`, the default camera looks out from `location`.
+     - parameter animated: True to animate the transition; false to transition instantaneously.
+     */
+    @objc public func updateCourseTracking(location: CLLocation?, heading: CLHeading?, camera: MGLMapCamera? = nil, animated: Bool = false) {
         // While animating to overhead mode, don't animate the puck.
         let duration: TimeInterval = animated && !isAnimatingToOverheadMode ? 1 : 0
         animatesUserLocation = animated
@@ -335,7 +353,16 @@ open class NavigationMapView: MGLMapView, UIGestureRecognizerDelegate {
         }
         
         if tracksUserCourse {
-            let newCamera = camera ?? MGLMapCamera(lookingAtCenter: location.coordinate, altitude: altitude, pitch: 45, heading: location.course)
+            var direction: CLLocationDirection?
+            if let trueHeading = heading?.trueHeading, trueHeading >= 0 {
+                direction = trueHeading
+            } else if let magneticHeading = heading?.magneticHeading, magneticHeading >= 0 {
+                direction = magneticHeading
+            } else if location.course >= 0 {
+                direction = location.course
+            }
+            
+            let newCamera = camera ?? MGLMapCamera(lookingAtCenter: location.coordinate, altitude: altitude, pitch: 45, heading: direction ?? -1)
             let function: CAMediaTimingFunction? = animated ? CAMediaTimingFunction(name: .linear) : nil
             let point = userAnchorPoint
             let padding = UIEdgeInsets(top: point.y, left: point.x, bottom: bounds.height - point.y, right: bounds.width - point.x)
diff --git a/MapboxNavigation/NavigationViewController.swift b/MapboxNavigation/NavigationViewController.swift
index c2701395469..829dc49782a 100644
--- a/MapboxNavigation/NavigationViewController.swift
+++ b/MapboxNavigation/NavigationViewController.swift
@@ -493,7 +493,9 @@ extension NavigationViewController: NavigationServiceDelegate {
         
         if snapsUserLocationAnnotationToRoute,
             userHasArrivedAndShouldPreventRerouting {
-            mapViewController?.mapView.updateCourseTracking(location: location, animated: true)
+            let isWalking = progress.currentLegProgress.currentStep.transportType == .walking
+            let heading = isWalking ? navigationService.locationManager.heading : nil
+            mapViewController?.mapView.updateCourseTracking(location: location, heading: heading, animated: true)
         }
     }
     
diff --git a/MapboxNavigation/RouteMapViewController.swift b/MapboxNavigation/RouteMapViewController.swift
index 90596b84080..03226ed9bd1 100644
--- a/MapboxNavigation/RouteMapViewController.swift
+++ b/MapboxNavigation/RouteMapViewController.swift
@@ -229,15 +229,18 @@ class RouteMapViewController: UIViewController {
 
         mapView.tracksUserCourse = true
 
+        let isWalking = navService.routeProgress.currentLegProgress.currentStep.transportType == .walking
+        let heading = isWalking ? navService.locationManager.heading : nil
+        
         if let camera = pendingCamera {
             mapView.camera = camera
-        } else if let location = router.location, location.course > 0 {
-            mapView.updateCourseTracking(location: location, animated: false)
+        } else if let location = router.location, location.course >= 0 {
+            mapView.updateCourseTracking(location: location, heading: heading, animated: false)
         } else if let coordinates = router.routeProgress.currentLegProgress.currentStep.coordinates, let firstCoordinate = coordinates.first, coordinates.count > 1 {
             let secondCoordinate = coordinates[1]
             let course = firstCoordinate.direction(to: secondCoordinate)
             let newLocation = CLLocation(coordinate: router.location?.coordinate ?? firstCoordinate, altitude: 0, horizontalAccuracy: 0, verticalAccuracy: 0, course: course, speed: 0, timestamp: Date())
-            mapView.updateCourseTracking(location: newLocation, animated: false)
+            mapView.updateCourseTracking(location: newLocation, heading: heading, animated: false)
         } else {
             mapView.setCamera(tiltedCamera, animated: false)
         }
@@ -338,7 +341,9 @@ class RouteMapViewController: UIViewController {
     }
 
     @objc func applicationWillEnterForeground(notification: NSNotification) {
-        mapView.updateCourseTracking(location: router.location, animated: false)
+        let isWalking = navService.routeProgress.currentLegProgress.currentStep.transportType == .walking
+        let heading = isWalking ? navService.locationManager.heading : nil
+        mapView.updateCourseTracking(location: router.location, heading: heading, animated: false)
     }
 
     func updateMapOverlays(for routeProgress: RouteProgress) {