diff --git a/src/sophys/common/plans/__init__.py b/src/sophys/common/plans/__init__.py
index a8d5629f..f5aa9dd8 100644
--- a/src/sophys/common/plans/__init__.py
+++ b/src/sophys/common/plans/__init__.py
@@ -1 +1,2 @@
-from .cumulative_scans import *
+from .cumulative_scans import cumulative_rel_scan
+from .scan_with_delay import scan_with_delay
diff --git a/src/sophys/common/plans/scan_with_delay.py b/src/sophys/common/plans/scan_with_delay.py
new file mode 100644
index 00000000..bee15fe9
--- /dev/null
+++ b/src/sophys/common/plans/scan_with_delay.py
@@ -0,0 +1,71 @@
+from bluesky.plans import scan
+from bluesky.plan_stubs import move_per_step, sleep, trigger_and_read
+from sophys.common.plans.annotated_default_plans import (
+    DETECTORS_TYPE,
+    PER_STEP_TYPE,
+    MD_TYPE,
+)
+
+
+def scan_with_delay(
+    detectors: DETECTORS_TYPE,
+    /,
+    *args,
+    num: int = None,
+    delay: float = 0.2,
+    per_step: PER_STEP_TYPE = None,
+    md: MD_TYPE = None,
+):
+    """
+    Scan over one multi-motor trajectory.
+
+    Parameters
+    ----------
+    detectors : list or tuple
+        list of 'readable' objects
+    *args :
+        For one dimension, ``motor, start, stop``.
+        In general:
+
+        .. code-block:: python
+
+            motor1, start1, stop1,
+            motor2, start2, stop2,
+            ...,
+            motorN, startN, stopN
+
+        -.-motor,start,stop;the n-th motor to move from slowest to fastest,the starting point in the motor's trajectory relative to the current position,the ending point in the motor's trajectory relative to the current position;__MOVABLE__,typing.Any,typing.Any-.-
+    num : integer
+        number of points
+    delay : integer
+        Delay between the triggers of the scan.
+    per_step : callable, optional
+        hook for customizing action of inner loop (messages per step).
+        See docstring of :func:`bluesky.plan_stubs.one_nd_step` (the default)
+        with and sleep plan after it.
+    md : dict, optional
+        metadata
+
+    See Also
+    --------
+    :func:`bluesky.plans.rel_grid_scan`
+    :func:`bluesky.plans.inner_product_scan`
+    :func:`bluesky.plans.scan_nd`
+    """
+
+    def one_nd_step_with_delay(detectors, step, pos_cache):
+        "This is a copy of bluesky.plan_stubs.one_nd_step with a sleep added."
+        motors = step.keys()
+        yield from move_per_step(step, pos_cache)
+        yield from sleep(delay)
+        yield from trigger_and_read(list(detectors) + list(motors))
+
+    def per_step_with_delay(detectors, step, pos_cache):
+        yield from per_step(detectors, step, pos_cache)
+        yield from sleep(delay)
+
+    per_step_scan = one_nd_step_with_delay
+    if per_step is not None:
+        per_step_scan = per_step_with_delay
+
+    yield from scan(detectors, *args, num=num, per_step=per_step_scan, md=md)