diff --git a/src/Mod/Assembly/App/AssemblyObject.cpp b/src/Mod/Assembly/App/AssemblyObject.cpp
index 22f1514103..f37713ff7a 100644
--- a/src/Mod/Assembly/App/AssemblyObject.cpp
+++ b/src/Mod/Assembly/App/AssemblyObject.cpp
@@ -426,6 +426,12 @@ std::vector<App::DocumentObject*> AssemblyObject::getJoints(bool updateJCS)
         }
     }
 
+    // add sub assemblies joints.
+    for (auto& assembly : getSubAssemblies()) {
+        auto subJoints = assembly->getJoints(updateJCS);
+        joints.insert(joints.end(), subJoints.begin(), subJoints.end());
+    }
+
     // Make sure the joints are up to date.
     if (updateJCS) {
         recomputeJointPlacements(joints);
@@ -1194,6 +1200,46 @@ void AssemblyObject::setObjMasses(std::vector<std::pair<App::DocumentObject*, do
     objMasses = objectMasses;
 }
 
+std::vector<AssemblyObject*> AssemblyObject::getSubAssemblies()
+{
+    std::vector<AssemblyObject*> subAssemblies = {};
+
+    App::Document* doc = getDocument();
+
+    std::vector<DocumentObject*> assemblies =
+        doc->getObjectsOfType(Assembly::AssemblyObject::getClassTypeId());
+    for (auto assembly : assemblies) {
+        if (hasObject(assembly)) {
+            subAssemblies.push_back(dynamic_cast<AssemblyObject*>(assembly));
+        }
+    }
+
+    return subAssemblies;
+}
+
+void AssemblyObject::updateGroundedJointsPlacements()
+{
+    std::vector<App::DocumentObject*> groundedJoints = getGroundedJoints();
+
+    for (auto gJoint : groundedJoints) {
+        if (!gJoint) {
+            continue;
+        }
+
+        auto* propObj =
+            dynamic_cast<App::PropertyLink*>(gJoint->getPropertyByName("ObjectToGround"));
+        auto* propPlc =
+            dynamic_cast<App::PropertyPlacement*>(gJoint->getPropertyByName("Placement"));
+
+        if (propObj && propPlc) {
+            App::DocumentObject* obj = propObj->getValue();
+            auto* propObjPlc =
+                dynamic_cast<App::PropertyPlacement*>(obj->getPropertyByName("Placement"));
+            propPlc->setValue(propObjPlc->getValue());
+        }
+    }
+}
+
 // ======================================= Utils ======================================
 
 void AssemblyObject::swapJCS(App::DocumentObject* joint)
diff --git a/src/Mod/Assembly/App/AssemblyObject.h b/src/Mod/Assembly/App/AssemblyObject.h
index b2cbd2e9e5..1971a07cb6 100644
--- a/src/Mod/Assembly/App/AssemblyObject.h
+++ b/src/Mod/Assembly/App/AssemblyObject.h
@@ -197,6 +197,8 @@ public:
     double getObjMass(App::DocumentObject* obj);
     void setObjMasses(std::vector<std::pair<App::DocumentObject*, double>> objectMasses);
 
+    std::vector<AssemblyObject*> getSubAssemblies();
+    void updateGroundedJointsPlacements();
 
 private:
     std::shared_ptr<MbD::ASMTAssembly> mbdAssembly;
diff --git a/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp b/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp
index 4fd58c25d8..4058b5dff4 100644
--- a/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp
+++ b/src/Mod/Assembly/Gui/ViewProviderAssembly.cpp
@@ -196,6 +196,12 @@ bool ViewProviderAssembly::setEdit(int ModNum)
                             this->getObject()->getDocument()->getName(),
                             this->getObject()->getNameInDocument());
 
+    // When we set edit, we update the grounded joints placements to support :
+    // - If user transformed the grounded object
+    // - For nested assemblies where the grounded object moves around.
+    auto* assembly = static_cast<AssemblyObject*>(getObject());
+    assembly->updateGroundedJointsPlacements();
+
     setDragger();
 
     return true;