diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index 8ce48becdb592f..ea34b35e6a79fe 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -107,8 +107,7 @@ void TermsPage::enableAccept(){
 }
 
 void OnboardingWindow::updateActiveScreen() {
-  bool accepted_terms = params.get("HasAcceptedTerms", false).compare(current_terms_version) == 0;
-  bool training_done = params.get("CompletedTrainingVersion", false).compare(current_training_version) == 0;
+  updateOnboardingStatus();
 
   if (!accepted_terms) {
     setCurrentIndex(0);
@@ -157,3 +156,13 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
 
   updateActiveScreen();
 }
+
+void OnboardingWindow::updateOnboardingStatus() {
+  accepted_terms = params.get("HasAcceptedTerms", false).compare(current_terms_version) == 0;
+  training_done = params.get("CompletedTrainingVersion", false).compare(current_training_version) == 0;
+}
+
+bool OnboardingWindow::isOnboardingDone() {
+  updateOnboardingStatus();
+  return accepted_terms && training_done;
+}
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index 987fad336c9fd2..92a9b971fcaccb 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -77,11 +77,15 @@ class OnboardingWindow : public QStackedWidget {
 
 public:
   explicit OnboardingWindow(QWidget *parent = 0);
+  bool isOnboardingDone();
 
 private:
   Params params;
   std::string current_terms_version;
   std::string current_training_version;
+  bool accepted_terms = false;
+  bool training_done = false;
+  void updateOnboardingStatus();
 
 signals:
   void onboardingDone();
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 864dabf1586aed..f10fce403a4727 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -22,10 +22,14 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
   QObject::connect(settingsWindow, &SettingsWindow::reviewTrainingGuide, this, &MainWindow::reviewTrainingGuide);
 
   onboardingWindow = new OnboardingWindow(this);
+  onboardingDone = onboardingWindow->isOnboardingDone();
   main_layout->addWidget(onboardingWindow);
 
   main_layout->setCurrentWidget(onboardingWindow);
-  QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, this, &MainWindow::closeSettings);
+  QObject::connect(onboardingWindow, &OnboardingWindow::onboardingDone, [=](){
+    onboardingDone = true;
+    closeSettings();
+  });
   onboardingWindow->updateActiveScreen();
 
   device.setAwake(true, true);
@@ -59,10 +63,13 @@ void MainWindow::openSettings() {
 }
 
 void MainWindow::closeSettings() {
-  main_layout->setCurrentWidget(homeWindow);
+  if(onboardingDone) {
+    main_layout->setCurrentWidget(homeWindow);
+  }
 }
 
 void MainWindow::reviewTrainingGuide() {
+  onboardingDone = false;
   main_layout->setCurrentWidget(onboardingWindow);
   onboardingWindow->updateActiveScreen();
 }
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 9d3a2a8912d77c..5a40e94bb2042b 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -25,6 +25,7 @@ class MainWindow : public QWidget {
   HomeWindow *homeWindow;
   SettingsWindow *settingsWindow;
   OnboardingWindow *onboardingWindow;
+  bool onboardingDone = false;
 
 public slots:
   void offroadTransition(bool offroad);