diff --git a/Firmware/Marlin_main.cpp b/Firmware/Marlin_main.cpp
index dbbd54348..dbbca14dd 100644
--- a/Firmware/Marlin_main.cpp
+++ b/Firmware/Marlin_main.cpp
@@ -232,6 +232,7 @@
 // M540 - Use S[0|1] to enable or disable the stop SD card print on endstop hit (requires ABORT_ON_ENDSTOP_HIT_FEATURE_ENABLED)
 // M600 - Pause for filament change X[pos] Y[pos] Z[relative lift] E[initial retract] L[later retract distance for removal]
 // M605 - Set dual x-carriage movement mode: S<mode> [ X<duplication x-offset> R<duplication temp offset> ]
+// M666 - Wait for PINDA thermistor to reach target temperature.
 // M900 - Set LIN_ADVANCE options, if enabled. See Configuration_adv.h for details.
 // M907 - Set digital trimpot motor current using axis codes.
 // M908 - Control digital trimpot directly.
@@ -4967,6 +4968,48 @@ Sigma_Exit:
     #endif
         break;
 
+#ifdef PINDA_THERMISTOR
+case 666: // M666 - Wait for PINDA thermistor to reach target temperature.
+  {
+    int setTargetPinda = 0;
+  
+    if (code_seen('S')) {
+      setTargetPinda =  code_value();
+    } else {
+      break;
+    }
+
+    LCD_MESSAGERPGM(MSG_PLEASE_WAIT);
+
+    SERIAL_PROTOCOLPGM("Wait for PINDA target temperature:");
+    SERIAL_PROTOCOL(setTargetPinda);
+    SERIAL_PROTOCOLLN("");
+
+    codenum = millis();
+    cancel_heatup = false;
+
+    KEEPALIVE_STATE(NOT_BUSY);
+
+    while ( (!cancel_heatup) && current_temperature_pinda < setTargetPinda) {
+      if(( millis() - codenum) > 1000 ) //Print Temp Reading every 1 second while waiting.
+      {
+        SERIAL_PROTOCOLPGM("P:");
+        SERIAL_PROTOCOL_F(current_temperature_pinda,1);
+        SERIAL_PROTOCOLPGM("/");
+        SERIAL_PROTOCOL(setTargetPinda);
+        SERIAL_PROTOCOLLN("");
+        codenum = millis();
+      }
+      manage_heater();
+      manage_inactivity();
+      lcd_update();
+    }
+    LCD_MESSAGERPGM(MSG_OK);
+  
+    break;
+  }
+#endif //PINDA_THERMISTOR
+
     #if defined(FAN_PIN) && FAN_PIN > -1
       case 106: //M106 Fan On
         if (code_seen('S')){