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diff --git a/Marlin/src/gcode/probe/M851.cpp b/Marlin/src/gcode/probe/M851.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_BED_PROBE
+
+#include "../gcode.h"
+#include "../../feature/bedlevel/bedlevel.h"
+#include "../../module/probe.h"
+
+/**
+ * M851: Set the nozzle-to-probe offsets in current units
+ */
+void GcodeSuite::M851() {
+
+  // Show usage with no parameters
+  if (!parser.seen("XYZ")) {
+    SERIAL_ECHOLNPAIR_P(
+      #if HAS_PROBE_XY_OFFSET
+        PSTR(STR_PROBE_OFFSET " X"), probe.offset_xy.x, SP_Y_STR, probe.offset_xy.y, SP_Z_STR
+      #else
+        PSTR(STR_PROBE_OFFSET " X0 Y0 Z")
+      #endif
+      , probe.offset.z
+    );
+    return;
+  }
+
+  // Start with current offsets and modify
+  xyz_pos_t offs = probe.offset;
+
+  // Assume no errors
+  bool ok = true;
+
+  if (parser.seenval('X')) {
+    const float x = parser.value_float();
+    #if HAS_PROBE_XY_OFFSET
+      if (WITHIN(x, -(X_BED_SIZE), X_BED_SIZE))
+        offs.x = x;
+      else {
+        SERIAL_ECHOLNPAIR("?X out of range (-", int(X_BED_SIZE), " to ", int(X_BED_SIZE), ")");
+        ok = false;
+      }
+    #else
+      if (x) SERIAL_ECHOLNPAIR("?X must be 0 (NOZZLE_AS_PROBE)."); // ...but let 'ok' stay true
+    #endif
+  }
+
+  if (parser.seenval('Y')) {
+    const float y = parser.value_float();
+    #if HAS_PROBE_XY_OFFSET
+      if (WITHIN(y, -(Y_BED_SIZE), Y_BED_SIZE))
+        offs.y = y;
+      else {
+        SERIAL_ECHOLNPAIR("?Y out of range (-", int(Y_BED_SIZE), " to ", int(Y_BED_SIZE), ")");
+        ok = false;
+      }
+    #else
+      if (y) SERIAL_ECHOLNPAIR("?Y must be 0 (NOZZLE_AS_PROBE)."); // ...but let 'ok' stay true
+    #endif
+  }
+
+  if (parser.seenval('Z')) {
+    const float z = parser.value_float();
+    if (WITHIN(z, Z_PROBE_OFFSET_RANGE_MIN, Z_PROBE_OFFSET_RANGE_MAX))
+      offs.z = z;
+    else {
+      SERIAL_ECHOLNPAIR("?Z out of range (", int(Z_PROBE_OFFSET_RANGE_MIN), " to ", int(Z_PROBE_OFFSET_RANGE_MAX), ")");
+      ok = false;
+    }
+  }
+
+  // Save the new offsets
+  if (ok) probe.offset = offs;
+}
+
+#endif // HAS_BED_PROBE