diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index 492e7c00..a6c30492 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -566,6 +566,16 @@ pub struct TransformInterpolation {
 }
 
 impl TransformInterpolation {
+    /// Skips interpolation, effectively causing the body to immediately teleport to its current
+    /// transform.
+    ///
+    /// This is most useful with kinematic character controllers, which always interpolate and do
+    /// not perform transform change detection like rigid bodies do.
+    pub fn teleport(&mut self) {
+        self.start = None;
+        self.end = None;
+    }
+
     /// Interpolates between the start and end positions with `t` in the range `[0..1]`.
     pub fn lerp_slerp(&self, t: f32) -> Option<Isometry<f32>> {
         if let (Some(start), Some(end)) = (self.start, self.end) {
diff --git a/src/plugin/context.rs b/src/plugin/context.rs
index 016609c2..41e1a2a9 100644
--- a/src/plugin/context.rs
+++ b/src/plugin/context.rs
@@ -249,8 +249,8 @@ impl RapierContext {
                             // Update the previous state transforms
                             for (handle, mut interpolation) in interpolation_query.iter_mut() {
                                 if let Some(body) = self.bodies.get(handle.0) {
-                                    interpolation.start = Some(*body.position());
-                                    interpolation.end = None;
+                                    interpolation.start = interpolation.end;
+                                    interpolation.end = Some(*body.position());
                                 }
                             }
                         }
diff --git a/src/plugin/systems.rs b/src/plugin/systems.rs
index 7deb595e..8ddf6060 100644
--- a/src/plugin/systems.rs
+++ b/src/plugin/systems.rs
@@ -280,6 +280,7 @@ pub fn apply_rigid_body_user_changes(
             &RapierRigidBodyHandle,
             &GlobalTransform,
             Option<&mut TransformInterpolation>,
+            Option<&KinematicCharacterController>,
         ),
         Changed<GlobalTransform>,
     >,
@@ -354,24 +355,30 @@ pub fn apply_rigid_body_user_changes(
             }
         };
 
-    for (handle, global_transform, mut interpolation) in changed_transforms.iter_mut() {
+    for (handle, global_transform, mut interpolation, kinematic_character_controller) in
+        changed_transforms.iter_mut()
+    {
         // Use an Option<bool> to avoid running the check twice.
         let mut transform_changed = None;
 
-        if let Some(interpolation) = interpolation.as_deref_mut() {
-            transform_changed = transform_changed.or_else(|| {
-                Some(transform_changed_fn(
-                    &handle.0,
-                    global_transform,
-                    &context.last_body_transform_set,
-                ))
-            });
-
-            if transform_changed == Some(true) {
-                // Reset the interpolation so we don’t overwrite
-                // the user’s input.
-                interpolation.start = None;
-                interpolation.end = None;
+        // Kinematic character controllers update outside of our tick loop, and therefore we must
+        // exclude them from interpolation.
+        if kinematic_character_controller.is_none() {
+            if let Some(interpolation) = interpolation.as_deref_mut() {
+                transform_changed = transform_changed.or_else(|| {
+                    Some(transform_changed_fn(
+                        &handle.0,
+                        global_transform,
+                        &context.last_body_transform_set,
+                    ))
+                });
+
+                if transform_changed == Some(true) {
+                    // Reset the interpolation so we don’t overwrite
+                    // the user’s input.
+                    interpolation.start = None;
+                    interpolation.end = None;
+                }
             }
         }