diff --git a/README.md b/README.md
index f12bf42d84..9c0fe95cb7 100644
--- a/README.md
+++ b/README.md
@@ -235,6 +235,7 @@ The following environment variables can be set to alter default behavior of the
 | DEPTHAI_ZOO_MODELS_PATH | (Default) depthai_models - Folder where zoo model description files are stored |
 | DEPTHAI_RECORD | Enables holistic record to the specified directory. |
 | DEPTHAI_REPLAY | Replays holistic replay from the specified file or directory. |
+| DEPTHAI_REPLAY_LOOP | Loops recorded data (ON by default). |
 | DEPTHAI_PROFILING | Enables runtime profiling of data transfer between the host and connected devices. Set to 1 to enable. Requires DEPTHAI_LEVEL=debug or lower to print. |
 | DEPTHAI_PIPELINE_DEBUGGING | Enables pipeline debugging with state dumps. DEPTHAI_LEVEL=trace is required to print the state dumps. |
 | DEPTHAI_AUTOCALIBRATION | Runs recalibration of the stereo pair and, by default, flashes successful calibration to non-volatile memory (EEPROM). `CONTINUOUS`: runs check repetitively; `ON_START`: runs calibration only at the start of the pipeline; `OFF`: no recalibration. The same mode can be configured from code with `pipeline.setAutoCalibrationMode(...)`. If this environment variable is set, it overrides the pipeline-set value. AutoCalibration currently initializes only for stereo inputs at 1280x800. |
diff --git a/src/opencv/HolisticRecordReplay.cpp b/src/opencv/HolisticRecordReplay.cpp
index d0e038de9c..29182ba1a2 100644
--- a/src/opencv/HolisticRecordReplay.cpp
+++ b/src/opencv/HolisticRecordReplay.cpp
@@ -24,6 +24,7 @@
 #include "depthai/utility/RecordReplay.hpp"
 #include "pipeline/Node.hpp"
 #include "utility/CompilerWarnings.hpp"
+#include "utility/Environment.hpp"
 
 #define UNUSED(x) (void)(x)
 
@@ -448,6 +449,8 @@ bool setupHolisticReplay(Pipeline pipeline,
 
         recordConfig.state = RecordConfig::RecordReplayState::REPLAY;
 
+        bool loopEnabled = utility::getEnvAs<bool>("DEPTHAI_REPLAY_LOOP", true);
+
         for(auto& node : sources) {
             auto nodeS = std::dynamic_pointer_cast<SourceNode>(node);
             if(nodeS == nullptr) {
@@ -466,6 +469,7 @@ bool setupHolisticReplay(Pipeline pipeline,
                 // replay->setReplayVideo(platform::joinPaths(rootPath, (mxId + "_").append(nodeName).append(".mp4")));
                 replay->setReplayVideoFile(platform::joinPaths(rootPath, nodeName + videoExt));
                 replay->setOutFrameType(legacy ? ImgFrame::Type::YUV420p : ImgFrame::Type::NV12);
+                replay->setLoop(loopEnabled);
 
                 auto videoSize = BytePlayer::getVideoSize(replay->getReplayMetadataFile().string());
                 auto [vidWidth, vidHeight, vidFps] = utility::getVideoSize(replay->getReplayVideoFile().string());
@@ -489,6 +493,7 @@ bool setupHolisticReplay(Pipeline pipeline,
             } else {
                 auto replay = pipeline.create<dai::node::ReplayMetadataOnly>();
                 replay->setReplayFile(platform::joinPaths(rootPath, nodeName + ".mcap"));
+                replay->setLoop(loopEnabled);
                 replay->out.link(nodeS->getReplayInput());
             }
         }
diff --git a/src/pipeline/node/host/Replay.cpp b/src/pipeline/node/host/Replay.cpp
index 7fc4c48f84..cccc08597e 100644
--- a/src/pipeline/node/host/Replay.cpp
+++ b/src/pipeline/node/host/Replay.cpp
@@ -1,4 +1,5 @@
 #include <stdexcept>
+#include <thread>
 
 #include "depthai/pipeline/datatype/DatatypeEnum.hpp"
 #include "depthai/pipeline/datatype/EncodedFrame.hpp"
@@ -204,6 +205,11 @@ inline std::shared_ptr<google::protobuf::Message> getProtoMessage(utility::ByteP
     return {};
 }
 
+inline void waitAndStopPipeline(Node* node) {
+    std::this_thread::sleep_for(std::chrono::seconds(5));
+    node->stopPipeline();
+}
+
 inline std::chrono::milliseconds getReplayFallbackInterval(const std::optional<float>& fps) {
     if(fps.has_value() && fps.value() > 0.1f) {
         return std::chrono::milliseconds((uint32_t)roundf(1000.f / fps.value()));
@@ -290,7 +296,7 @@ void ReplayVideo::run() {
                     continue;
                 }
                 // This will stop even if there is still frames in the pipeline
-                stopPipeline();
+                waitAndStopPipeline(this);
                 break;
             } else {
                 hasMetadata = false;
@@ -313,7 +319,7 @@ void ReplayVideo::run() {
                     continue;
                 }
                 // This will stop even if there is still frames in the pipeline
-                stopPipeline();
+                waitAndStopPipeline(this);
                 break;
             } else {
                 hasVideo = false;
@@ -441,7 +447,7 @@ void ReplayMetadataOnly::run() {
                 continue;
             }
             // This will stop even if there is still frames in the pipeline
-            stopPipeline();
+            waitAndStopPipeline(this);
             break;
         } else {
             throw std::runtime_error("Metadata file contains no messages");