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diff --git a/Marlin/src/gcode/probe/M951.cpp b/Marlin/src/gcode/probe/M951.cpp
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+++ b/Marlin/src/gcode/probe/M951.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/MarlinConfigPre.h"
+
+#if ENABLED(MAGNETIC_PARKING_EXTRUDER)
+
+#include "../gcode.h"
+#include "../../module/tool_change.h"
+#include "../../module/motion.h"
+
+mpe_settings_t mpe_settings;
+
+inline void mpe_settings_report() {
+  SERIAL_ECHO_MSG("Magnetic Parking Extruder");
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("L: Left parking  :", mpe_settings.parking_xpos[0]);
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("R: Right parking :", mpe_settings.parking_xpos[1]);
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("I: Grab Offset   :", mpe_settings.grab_distance);
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("J: Normal speed  :", long(MMS_TO_MMM(mpe_settings.slow_feedrate)));
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("H: High speed    :", long(MMS_TO_MMM(mpe_settings.fast_feedrate)));
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("D: Distance trav.:", mpe_settings.travel_distance);
+  SERIAL_ECHO_START(); SERIAL_ECHOLNPAIR("C: Compenstion   :", mpe_settings.compensation_factor);
+}
+
+void mpe_settings_init() {
+  constexpr float pex[2] = PARKING_EXTRUDER_PARKING_X;
+  mpe_settings.parking_xpos[0]      = pex[0];                         // M951 L
+  mpe_settings.parking_xpos[1]      = pex[1];                         // M951 R
+  mpe_settings.grab_distance        = PARKING_EXTRUDER_GRAB_DISTANCE; // M951 I
+  TERN_(HAS_HOME_OFFSET, set_home_offset(X_AXIS, mpe_settings.grab_distance * -1));
+  mpe_settings.slow_feedrate        = MMM_TO_MMS(MPE_SLOW_SPEED);     // M951 J
+  mpe_settings.fast_feedrate        = MMM_TO_MMS(MPE_FAST_SPEED);     // M951 H
+  mpe_settings.travel_distance      = MPE_TRAVEL_DISTANCE;            // M951 D
+  mpe_settings.compensation_factor  = MPE_COMPENSATION;               // M951 C
+  mpe_settings_report();
+}
+
+void GcodeSuite::M951() {
+  if (parser.seenval('L')) mpe_settings.parking_xpos[0] = parser.value_linear_units();
+  if (parser.seenval('R')) mpe_settings.parking_xpos[1] = parser.value_linear_units();
+  if (parser.seenval('I')) {
+    mpe_settings.grab_distance = parser.value_linear_units();
+    TERN_(HAS_HOME_OFFSET, set_home_offset(X_AXIS, mpe_settings.grab_distance * -1));
+  }
+  if (parser.seenval('J')) mpe_settings.slow_feedrate       = MMM_TO_MMS(parser.value_linear_units());
+  if (parser.seenval('H')) mpe_settings.fast_feedrate       = MMM_TO_MMS(parser.value_linear_units());
+  if (parser.seenval('D')) mpe_settings.travel_distance     = parser.value_linear_units();
+  if (parser.seenval('C')) mpe_settings.compensation_factor = parser.value_float();
+  if (!parser.seen("CDHIJLR")) mpe_settings_report();
+}
+
+#endif // MAGNETIC_PARKING_EXTRUDER