diff --git a/src/rai_hmi/rai_hmi/voice_hmi.py b/src/rai_hmi/rai_hmi/voice_hmi.py
index 36418598..c5a6ba5c 100644
--- a/src/rai_hmi/rai_hmi/voice_hmi.py
+++ b/src/rai_hmi/rai_hmi/voice_hmi.py
@@ -13,6 +13,13 @@
 # limitations under the License.
 #
 
+from typing import List
+
+import rclpy
+from langchain.agents import AgentExecutor, create_tool_calling_agent
+from langchain.prompts import ChatPromptTemplate
+from langchain_core.messages import AIMessage, BaseMessage, HumanMessage, SystemMessage
+from langchain_openai import ChatOpenAI
 from rclpy.callback_groups import ReentrantCallbackGroup
 from std_msgs.msg import String
 
@@ -20,8 +27,8 @@
 
 
 class VoiceHMINode(BaseHMINode):
-    def __init__(self, node_name: str, robot_description_package: str):
-        super().__init__(node_name, robot_description_package)
+    def __init__(self, node_name: str):
+        super().__init__(node_name)
 
         self.callback_group = ReentrantCallbackGroup()
         self.hmi_subscription = self.create_subscription(
@@ -36,20 +43,63 @@ def __init__(self, node_name: str, robot_description_package: str):
             String, "to_human", 10, callback_group=self.callback_group
         )
 
+        self.history: List[BaseMessage] = []
+        self.agent = self.initialize_agent()
+
+        self.get_logger().info("Voice HMI node initialized")
+
+    def initialize_agent(self):
+        prompt = ChatPromptTemplate.from_messages(
+            [
+                ("system", self.system_prompt),
+                ("placeholder", "{chat_history}"),
+                ("human", "{user_input}"),
+                ("placeholder", "{agent_scratchpad}"),
+            ]
+        )
+        llm = ChatOpenAI(model="gpt-4o")
+        agent = create_tool_calling_agent(llm=llm, tools=self.tools, prompt=prompt)
+        agent_executor = AgentExecutor(agent=agent, tools=self.tools)
+        return agent_executor
+
     def handle_human_message(self, msg: String):
         self.processing = True
 
         # handle human message
-        output = ""  # self.agent(msg.data, config=config)
+        response = self.agent.invoke(
+            {"user_input": msg.data, "chat_history": self.history}
+        )
+        output = response["output"]
+        self.history.append(HumanMessage(msg.data))
+        self.history.append(AIMessage(output))
 
-        self.processing = False
         self.hmi_publisher.publish(String(data=output))
+        self.processing = False
 
     def handle_feedback_request(self, feedback_query: str) -> str:
         self.processing = True
 
         # handle feedback request
-        output = ""  # self.agent(feedback_query, config=config)
+        feedback_prompt = (
+            "The task executioner is asking for feedback on the following:"
+            f"```\n{feedback_query}\n```"
+            "Please provide needed information based on the following chat history:"
+        )
+        local_history: List[BaseMessage] = [
+            SystemMessage(content=self.system_prompt),
+            HumanMessage(content=feedback_prompt),
+        ]
+        local_history.extend(self.history)
+        response = self.agent.invoke({"user_input": "", "chat_history": local_history})
+        output = response["output"]
 
         self.processing = False
         return output
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    voice_hmi_node = VoiceHMINode("voice_hmi_node")
+    rclpy.spin(voice_hmi_node)
+    voice_hmi_node.destroy_node()
+    rclpy.shutdown()
diff --git a/src/rai_hmi/setup.py b/src/rai_hmi/setup.py
index e0b56574..757f8d35 100644
--- a/src/rai_hmi/setup.py
+++ b/src/rai_hmi/setup.py
@@ -35,6 +35,7 @@
     entry_points={
         "console_scripts": [
             "hmi_node = rai_hmi.hmi_node:main",
+            "voice_hmi_node = rai_hmi.voice_hmi:main",
         ],
     },
 )