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diff --git a/Marlin/src/gcode/bedlevel/G42.cpp b/Marlin/src/gcode/bedlevel/G42.cpp
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
+ *
+ * Based on Sprinter and grbl.
+ * Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ */
+
+#include "../../inc/MarlinConfig.h"
+
+#if HAS_MESH
+
+#include "../gcode.h"
+#include "../../MarlinCore.h" // for IsRunning()
+#include "../../module/motion.h"
+#include "../../module/probe.h" // for probe.offset
+#include "../../feature/bedlevel/bedlevel.h"
+
+/**
+ * G42: Move X & Y axes to mesh coordinates (I & J)
+ */
+void GcodeSuite::G42() {
+  if (MOTION_CONDITIONS) {
+    const bool hasI = parser.seenval('I');
+    const int8_t ix = hasI ? parser.value_int() : 0;
+    const bool hasJ = parser.seenval('J');
+    const int8_t iy = hasJ ? parser.value_int() : 0;
+
+    if ((hasI && !WITHIN(ix, 0, GRID_MAX_POINTS_X - 1)) || (hasJ && !WITHIN(iy, 0, GRID_MAX_POINTS_Y - 1))) {
+      SERIAL_ECHOLNPGM(STR_ERR_MESH_XY);
+      return;
+    }
+
+    // Move to current_position, as modified by I, J, P parameters
+    destination = current_position;
+
+    if (hasI) destination.x = _GET_MESH_X(ix);
+    if (hasJ) destination.y = _GET_MESH_Y(iy);
+
+    #if HAS_PROBE_XY_OFFSET
+      if (parser.boolval('P')) {
+        if (hasI) destination.x -= probe.offset_xy.x;
+        if (hasJ) destination.y -= probe.offset_xy.y;
+      }
+    #endif
+
+    const feedRate_t fval = parser.linearval('F'),
+                     fr_mm_s = MMM_TO_MMS(fval > 0 ? fval : 0.0f);
+
+    // SCARA kinematic has "safe" XY raw moves
+    #if IS_SCARA
+      prepare_internal_fast_move_to_destination(fr_mm_s);
+    #else
+      prepare_internal_move_to_destination(fr_mm_s);
+    #endif
+  }
+}
+
+#endif // HAS_MESH