diff --git a/satrs-example/src/acs/subsystem.rs b/satrs-example/src/acs/subsystem.rs
index f8caa16..36341aa 100644
--- a/satrs-example/src/acs/subsystem.rs
+++ b/satrs-example/src/acs/subsystem.rs
@@ -177,6 +177,33 @@ impl Subsystem {
         }
     }
 
+    pub fn execute_transition_step(&mut self, step: &TransitionCommands) {
+        if let Some((target_mode, _info)) = &step.mgm_assembly_mode {
+            self.mode_request_senders
+                .mode_request_assy
+                .send(models::acs::mgm_assembly::request::ModeRequest::SetMode(
+                    *target_mode,
+                ))
+                .expect("failed to send mode request to MGM assembly");
+        }
+        if let Some((target_mode, _info)) = &step.mgt_mode {
+            self.mode_request_senders
+                .mode_request_mgt
+                .send(models::acs::mgt::request::ModeRequest::SetMode(
+                    *target_mode,
+                ))
+                .expect("failed to send mode request to MGM assembly");
+        }
+        if let Some((target_mode, _info)) = &step.controller_mode {
+            self.mode_request_senders
+                .mode_request_ctrl
+                .send(models::acs::ctrl::request::ModeRequest::SetMode(
+                    *target_mode,
+                ))
+                .expect("failed to send mode request to MGM assembly");
+        }
+    }
+
     pub fn handle_mode_request(
         &mut self,
         mode_request: models::acs::subsystem::request::ModeRequest,
@@ -184,34 +211,11 @@ impl Subsystem {
         match mode_request {
             models::acs::subsystem::request::ModeRequest::SetMode(target_mode) => {
                 self.mode_helper.start(target_mode);
-                match target_mode {
-                    models::acs::subsystem::Mode::Off => {
-                        // TODO: We need to start executing the transition table here..
-                        /*
-                        self.mode_request_senders
-                            .mode_request_assy
-                            .send(models::acs::mgm_assembly::request::ModeRequest::SetMode(
-                                models::acs::mgm_assembly::Mode::Device(models::DeviceMode::Off),
-                            ))
-                            .expect("failed to send mode request to MGM assembly");
-                        self.mode_request_senders
-                            .mode_request_mgt
-                            .send(models::acs::mgt::request::ModeRequest::SetMode(
-                                models::acs::mgt::Mode::Normal,
-                            ))
-                            .expect("failed to send mode request to MGM assembly");
-                        self.mode_request_senders
-                            .mode_request_ctrl
-                            .send(models::acs::ctrl::request::ModeRequest::SetMode(
-                                models::acs::ctrl::Mode::Passive,
-                            ))
-                            .expect("failed to send mode request to MGM assembly");
-                        */
-                    }
-                    models::acs::subsystem::Mode::Safe => {
-                        // TODO: Perform SAFE sequence.
-                    }
-                }
+                self.transition_step = 0;
+                let first_step = Self::transition_sequence_for_mode(target_mode)
+                    .get(self.transition_step)
+                    .expect("empty transition table");
+                self.execute_transition_step(first_step);
             }
             models::acs::subsystem::request::ModeRequest::ReadMode => {
                 self.send_telemetry(