diff --git a/CHANGELOG.md b/CHANGELOG.md
index 3f37a6bc..0e7b3da4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -18,6 +18,7 @@
 - Indicate worker update availability (red dot) ([Issue](https://github.com/orgs/amosproj/projects/79/views/2?pane=issue&itemId=119737574&issue=amosproj%7Camos2025ss01-embark-orchestration-framework%7C108))
 - Show HEAD hash for worker EMBA version ([Issue](https://github.com/orgs/amosproj/projects/79/views/2?pane=issue&itemId=119733872&issue=amosproj%7Camos2025ss01-embark-orchestration-framework%7C107))
 - SSH key authentication ([Issue](https://github.com/orgs/amosproj/projects/79/views/2?pane=issue&itemId=118803738&issue=amosproj%7Camos2025ss01-embark-orchestration-framework%7C97))
+- Reassign analyses on worker soft reset ([Issue](https://github.com/orgs/amosproj/projects/79/views/2?pane=issue&itemId=119121939&issue=amosproj%7Camos2025ss01-embark-orchestration-framework%7C105))
 
 ## [sprint-12](https://github.com/amosproj/amos2025ss01-embark/releases/tag/sprint-12-release) - 2025-07-09
 
diff --git a/embark/workers/orchestrator.py b/embark/workers/orchestrator.py
index c5990a4e..c1cf21fe 100644
--- a/embark/workers/orchestrator.py
+++ b/embark/workers/orchestrator.py
@@ -148,7 +148,7 @@ def _reset(self):
                 analysis.duration = str(analysis.scan_time)
                 analysis.save()
             self._remove_worker(worker)
-            worker_soft_reset_task.delay(worker.id)
+            worker_soft_reset_task.delay(worker.id, only_reset=True)
 
         for worker_ip, worker in all_workers.items():
             self.free_workers[worker_ip] = worker
@@ -271,7 +271,7 @@ def _add_worker(self, worker: Worker):
         :raises ValueError: If the worker already exists in the orchestrator
         """
         if worker.ip_address in self.free_workers or worker.ip_address in self.busy_workers:
-            raise ValueError(f"Worker with IP {worker.ip_address} already exists.")
+            raise ValueError(f"Worker with IP {worker.ip_address} already registered in the orchestrator.")
         self.free_workers[worker.ip_address] = worker
 
         logger.info("Worker: %s added to orchestrator", worker.name)
diff --git a/embark/workers/tasks.py b/embark/workers/tasks.py
index a4b41771..4102058c 100644
--- a/embark/workers/tasks.py
+++ b/embark/workers/tasks.py
@@ -99,7 +99,7 @@ def update_system_info(worker: Worker):
     return system_info
 
 
-def _new_analysis_form(old_analysis: FirmwareAnalysis) -> FirmwareAnalysis:
+def _new_analysis_from(old_analysis: FirmwareAnalysis) -> FirmwareAnalysis:
     """
     Creates a new FirmwareAnalysis object based on the provided old_analysis.
     This can be used to restart a cancelled or failed analysis on a different worker
@@ -202,7 +202,7 @@ def _handle_unreachable_worker(worker: Worker, force: bool = False):
                 if reassign_analysis_id:
                     firmware_analysis = FirmwareAnalysis.objects.get(id=reassign_analysis_id)
                     firmware_file = FirmwareFile.objects.get(id=firmware_analysis.firmware.id)
-                    new_analysis = _new_analysis_form(firmware_analysis)
+                    new_analysis = _new_analysis_from(firmware_analysis)
                     submit_firmware(new_analysis, firmware_file)
         except BaseException as error:
             logger.error("An error occurred while handling unreachable worker %s: %s", worker.name, error)
@@ -589,14 +589,34 @@ def _get_head_time(repo):
 
 
 @shared_task
-def worker_soft_reset_task(worker_id):
+def worker_soft_reset_task(worker_id, only_reset=False):
     """
-    Connects via SSH to the worker and performs the soft reset
+    Removes the worker from the orchestrator, reassigns the analysis if needed,
+    connects via SSH to the worker and performs the soft reset, and re-adds the worker to the orchestrator.
+
+    Removes the worker from the orchestrator, reassigns the analysis if needed,
+    connects via SSH to the worker and performs the soft reset, and re-adds the worker to the orchestrator.
+
     :param worker_id: ID of worker to soft reset
+    :param only_reset: If True, only performs the reset without reassigning the analysis or removing the worker from the orchestrator.
     """
     ssh_client = None
     try:
-        worker = Worker.objects.get(id=worker_id)
+        if not only_reset:
+            # Remove the worker from the orchestrator
+            orchestrator = get_orchestrator()
+            worker = Worker.objects.get(id=worker_id)
+            orchestrator.remove_worker(worker, check=False)
+
+            # Reassign the analysis running on the worker
+            reassign_analysis_id = worker.analysis_id
+            if reassign_analysis_id:
+                firmware_analysis = FirmwareAnalysis.objects.get(id=reassign_analysis_id)
+                firmware_file = FirmwareFile.objects.get(id=firmware_analysis.firmware.id)
+                new_analysis = _new_analysis_from(firmware_analysis)
+                submit_firmware(new_analysis, firmware_file)
+
+        # Soft reset the worker
         ssh_client = worker.ssh_connect()
         homedir = "/root" if ssh_client.ssh_user == "root" else f"/home/{ssh_client.ssh_user}"
         exec_blocking_ssh(ssh_client, "sudo docker ps -aq | xargs -r sudo docker stop | xargs -r sudo docker rm || true")
@@ -604,6 +624,13 @@ def worker_soft_reset_task(worker_id):
         exec_blocking_ssh(ssh_client, f"sudo rm -rf {settings.WORKER_FIRMWARE_DIR}")
         exec_blocking_ssh(ssh_client, f"sudo rm -rf {homedir}/emba_logs.zip*")  # Also delete possible leftover tmp files
         exec_blocking_ssh(ssh_client, f"sudo rm -rf {homedir}/emba_run.log")
+
+        if not only_reset:
+            # Re-add the worker to the orchestrator
+            try:
+                orchestrator.add_worker(worker)
+            except ValueError:
+                pass
     except Worker.DoesNotExist:
         logger.error("Worker Soft Reset: Invalid worker id")
     except (paramiko.SSHException, socket.error):