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diff --git a/Marlin/src/gcode/feature/pause/G61.cpp b/Marlin/src/gcode/feature/pause/G61.cpp
new file mode 100644
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+++ b/Marlin/src/gcode/feature/pause/G61.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 SAVED_POSITIONS
+
+#include "../../../module/planner.h"
+#include "../../gcode.h"
+#include "../../../module/motion.h"
+
+/**
+ * G61: Return to saved position
+ *
+ *   F<rate>  - Feedrate (optional) for the move back.
+ *   S<slot>  - Slot # (0-based) to restore from (default 0).
+ *   X Y Z    - Axes to restore. At least one is required.
+ */
+void GcodeSuite::G61(void) {
+
+  const uint8_t slot = parser.byteval('S');
+
+  #if SAVED_POSITIONS < 256
+    if (slot >= SAVED_POSITIONS) {
+      SERIAL_ERROR_MSG(STR_INVALID_POS_SLOT STRINGIFY(SAVED_POSITIONS));
+      return;
+    }
+  #endif
+
+  // No saved position? No axes being restored?
+  if (!TEST(saved_slots[slot >> 3], slot & 0x07) || !parser.seen("XYZ")) return;
+
+  SERIAL_ECHOPAIR(STR_RESTORING_POS " S", int(slot));
+  LOOP_XYZ(i) {
+    destination[i] = parser.seen(XYZ_CHAR(i))
+      ? stored_position[slot][i] + parser.value_axis_units((AxisEnum)i)
+      : current_position[i];
+    SERIAL_CHAR(' ', XYZ_CHAR(i));
+    SERIAL_ECHO_F(destination[i]);
+  }
+  SERIAL_EOL();
+
+  // Apply any given feedrate over 0.0
+  feedRate_t saved_feedrate = feedrate_mm_s;
+  const float fr = parser.linearval('F');
+  if (fr > 0.0) feedrate_mm_s = MMM_TO_MMS(fr);
+
+  // Move to the saved position
+  prepare_line_to_destination();
+
+  feedrate_mm_s = saved_feedrate;
+}
+
+#endif // SAVED_POSITIONS