diff --git a/lerobot/common/robots/lekiwi/lekiwi.py b/lerobot/common/robots/lekiwi/lekiwi.py
index 02474898..986b9d1e 100644
--- a/lerobot/common/robots/lekiwi/lekiwi.py
+++ b/lerobot/common/robots/lekiwi/lekiwi.py
@@ -16,6 +16,7 @@
 
 import logging
 import time
+from itertools import chain
 from typing import Any
 
 from lerobot.common.cameras.utils import make_cameras_from_configs
@@ -183,6 +184,12 @@ class LeKiwi(Robot):
 
         self.bus.enable_torque()
 
+    def setup_motors(self) -> None:
+        for motor in chain(reversed(self.arm_motors), reversed(self.base_motors)):
+            input(f"Connect the controller board to the '{motor}' motor only and press enter.")
+            self.bus.setup_motor(motor)
+            print(f"'{motor}' motor id set to {self.bus.motors[motor].id}")
+
     def get_observation(self) -> dict[str, Any]:
         if not self.is_connected:
             raise DeviceNotConnectedError(f"{self} is not connected.")