diff --git a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeExecutor.java b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeExecutor.java
index 4f4ef59a05cc..f65893fd1b36 100644
--- a/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeExecutor.java
+++ b/ihmc-high-level-behaviors/src/main/java/us/ihmc/behaviors/behaviorTree/BehaviorTreeExecutor.java
@@ -3,6 +3,8 @@
 import us.ihmc.avatar.drcRobot.DRCRobotModel;
 import us.ihmc.avatar.drcRobot.ROS2SyncedRobotModel;
 import us.ihmc.avatar.ros2.ROS2ControllerHelper;
+import us.ihmc.avatar.scs2.SCS2AvatarSimulation;
+import us.ihmc.avatar.scs2.SCS2AvatarSimulationFactory;
 import us.ihmc.behaviors.behaviorTree.topology.BehaviorTreeExtensionSubtreeRebuilder;
 import us.ihmc.behaviors.behaviorTree.ros2.ROS2BehaviorTreeState;
 import us.ihmc.communication.crdt.CRDTInfo;
@@ -18,6 +20,7 @@ public class BehaviorTreeExecutor
    private final BehaviorTreeExtensionSubtreeRebuilder treeRebuilder;
    private final BehaviorTreeState behaviorTreeState;
    private BehaviorTreeNodeExecutor<?, ?> rootNode;
+   private final SCS2AvatarSimulation previewSimulation;
 
    public BehaviorTreeExecutor(DRCRobotModel robotModel,
                                ROS2SyncedRobotModel syncedRobot,
@@ -30,6 +33,23 @@ public BehaviorTreeExecutor(DRCRobotModel robotModel,
       treeRebuilder = new BehaviorTreeExtensionSubtreeRebuilder(this::getRootNode, crdtInfo);
 
       behaviorTreeState = new BehaviorTreeState(nodeBuilder, treeRebuilder, this::getRootNode, crdtInfo, null);
+
+      // TODO: Need to build a way to parameterize the Controller API topics to have a set for previewing
+      //   Need to parameterize all behavior topics with preview vs. real robot
+      SCS2AvatarSimulationFactory previewSimulationFactory = new SCS2AvatarSimulationFactory();
+      previewSimulationFactory.setRobotModel(robotModel);
+      // TODO: Probably need to change this to accept ROS2NodeInterface
+      //   previewSimulationFactory.setRealtimeROS2Node();
+      previewSimulationFactory.setDefaultHighLevelHumanoidControllerFactory();
+      // TODO: Need a way of setting up robot in current configuration before you preview
+      //   avatarSimulationFactory.setRobotInitialSetup(robotInitialSetup);
+      previewSimulationFactory.setKinematicsSimulation(true);
+      previewSimulationFactory.setUsePerfectSensors(true);
+      previewSimulationFactory.setSimulationDT(1.0 / 1500.0);
+      previewSimulationFactory.setSimulationDataRecordTickPeriod(20);
+      previewSimulationFactory.setSimulationDataBufferDuration(5.0);
+      previewSimulation = previewSimulationFactory.createAvatarSimulation();
+      previewSimulation.setSystemExitOnDestroy(false);
    }
 
    public void update()