diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp
index c93d81127..e911b6f28 100644
--- a/Marlin/src/module/planner.cpp
+++ b/Marlin/src/module/planner.cpp
@@ -2544,9 +2544,14 @@ void Planner::_set_position_mm(const float &a, const float &b, const float &c, c
   #if ENABLED(DISTINCT_E_FACTORS)
     last_extruder = active_extruder;
   #endif
-  position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]),
-  position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]),
-  position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]),
+  position[A_AXIS] = LROUND(a * axis_steps_per_mm[A_AXIS]);
+  position[B_AXIS] = LROUND(b * axis_steps_per_mm[B_AXIS]);
+  #if !IS_KINEMATIC && ENABLED(AUTO_BED_LEVELING_UBL)
+    if (leveling_active)
+      position[C_AXIS] = LROUND((c + ubl.get_z_correction(a, b)) * axis_steps_per_mm[Z_AXIS]);
+    else
+  #endif
+  position[C_AXIS] = LROUND(c * axis_steps_per_mm[C_AXIS]);
   position[E_AXIS] = LROUND(e * axis_steps_per_mm[_EINDEX]);
   #if HAS_POSITION_FLOAT
     position_float[A_AXIS] = a;
@@ -2588,6 +2593,11 @@ void Planner::set_position_mm(const AxisEnum axis, const float &v) {
   #else
     const uint8_t axis_index = axis;
   #endif
+  #if ENABLED(AUTO_BED_LEVELING_UBL)
+    if (axis == Z_AXIS && leveling_active)
+      position[axis] = LROUND((v + ubl.get_z_correction(current_position[X_AXIS], current_position[Y_AXIS])) * axis_steps_per_mm[axis_index]);
+    else
+  #endif
   position[axis] = LROUND(v * axis_steps_per_mm[axis_index]);
   #if HAS_POSITION_FLOAT
     position_float[axis] = v;