diff --git a/src/ipa/rpi/common/ipa_base.cpp b/src/ipa/rpi/common/ipa_base.cpp
index 599ad146a863..4413689b7bef 100644
--- a/src/ipa/rpi/common/ipa_base.cpp
+++ b/src/ipa/rpi/common/ipa_base.cpp
@@ -199,6 +199,19 @@ int32_t IpaBase::configure(const IPACameraSensorInfo &sensorInfo, const ConfigPa
 		agcStatus.shutterTime = defaultExposureTime;
 		agcStatus.analogueGain = defaultAnalogueGain;
 		applyAGC(&agcStatus, ctrls);
+
+		/* Set the lens to the default (typically hyperfocal) position on first start. */
+		RPiController::AfAlgorithm *af =
+			dynamic_cast<RPiController::AfAlgorithm *>(controller_.getAlgorithm("af"));
+		if (lensPresent_ && af) {
+			float defaultPos = ipaAfControls.at(&controls::LensPosition).def().get<float>();
+			ControlList lensCtrl(lensCtrls_);
+			int32_t hwpos;
+
+			af->setLensPosition(defaultPos, &hwpos);
+			lensCtrl.set(V4L2_CID_FOCUS_ABSOLUTE, hwpos);
+			result->lensControls = std::move(lensCtrl);
+		}
 	}
 
 	result->sensorControls = std::move(ctrls);