diff --git a/api/src/opentrons/hardware_control/api.py b/api/src/opentrons/hardware_control/api.py
index 512d729f0fa..0cb7a96be54 100644
--- a/api/src/opentrons/hardware_control/api.py
+++ b/api/src/opentrons/hardware_control/api.py
@@ -65,7 +65,7 @@
     RobotCalibration,
 )
 from .protocols import HardwareControlInterface
-from .instruments.ot2.pipette_handler import PipetteHandlerProvider, PickUpTipSpec
+from .instruments.ot2.pipette_handler import PipetteHandlerProvider
 from .instruments.ot2.instrument_calibration import load_pipette_offset
 from .motion_utilities import (
     target_position_from_absolute,
@@ -1155,8 +1155,21 @@ async def update_nozzle_configuration_for_mount(
     async def tip_pickup_moves(
         self,
         mount: top_types.Mount,
-        spec: PickUpTipSpec,
+        presses: Optional[int] = None,
+        increment: Optional[float] = None,
     ) -> None:
+        spec, _ = self.plan_check_pick_up_tip(
+            mount=mount, presses=presses, increment=increment
+        )
+        self._backend.set_active_current(spec.plunger_currents)
+        target_absolute = target_position_from_plunger(
+            mount, spec.plunger_prep_pos, self._current_position
+        )
+        await self._move(
+            target_absolute,
+            home_flagged_axes=False,
+        )
+
         for press in spec.presses:
             with self._backend.save_current():
                 self._backend.set_active_current(press.current)
@@ -1176,6 +1189,11 @@ async def tip_pickup_moves(
 
         await self.retract(mount, spec.retract_target)
 
+    def cache_tip(self, mount: top_types.Mount, tip_length: float) -> None:
+        instrument = self.get_pipette(mount)
+        instrument.add_tip(tip_length=tip_length)
+        instrument.set_current_volume(0)
+
     async def pick_up_tip(
         self,
         mount: top_types.Mount,
@@ -1189,7 +1207,7 @@ async def pick_up_tip(
         """
 
         spec, _add_tip_to_instrs = self.plan_check_pick_up_tip(
-            mount, tip_length, presses, increment
+            mount=mount, presses=presses, increment=increment, tip_length=tip_length
         )
         self._backend.set_active_current(spec.plunger_currents)
         target_absolute = target_position_from_plunger(
@@ -1200,7 +1218,24 @@ async def pick_up_tip(
             home_flagged_axes=False,
         )
 
-        await self.tip_pickup_moves(mount, spec)
+        for press in spec.presses:
+            with self._backend.save_current():
+                self._backend.set_active_current(press.current)
+                target_down = target_position_from_relative(
+                    mount, press.relative_down, self._current_position
+                )
+                await self._move(target_down, speed=press.speed)
+            target_up = target_position_from_relative(
+                mount, press.relative_up, self._current_position
+            )
+            await self._move(target_up)
+        # neighboring tips tend to get stuck in the space between
+        # the volume chamber and the drop-tip sleeve on p1000.
+        # This extra shake ensures those tips are removed
+        for rel_point, speed in spec.shake_off_list:
+            await self.move_rel(mount, rel_point, speed=speed)
+
+        await self.retract(mount, spec.retract_target)
         _add_tip_to_instrs()
 
         if prep_after:
diff --git a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py
index 2f098bc9df0..5a61cf6abee 100644
--- a/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py
+++ b/api/src/opentrons/hardware_control/instruments/ot2/pipette_handler.py
@@ -744,9 +744,9 @@ def build_one_shake() -> List[Tuple[top_types.Point, Optional[float]]]:
     def plan_check_pick_up_tip(
         self,
         mount: top_types.Mount,
-        tip_length: float,
         presses: Optional[int],
         increment: Optional[float],
+        tip_length: float = 0,
     ) -> Tuple[PickUpTipSpec, Callable[[], None]]:
         ...
 
@@ -754,18 +754,18 @@ def plan_check_pick_up_tip(
     def plan_check_pick_up_tip(
         self,
         mount: OT3Mount,
-        tip_length: float,
         presses: Optional[int],
         increment: Optional[float],
+        tip_length: float = 0,
     ) -> Tuple[PickUpTipSpec, Callable[[], None]]:
         ...
 
     def plan_check_pick_up_tip(  # type: ignore[no-untyped-def]
         self,
         mount,
-        tip_length,
         presses,
         increment,
+        tip_length=0,
     ):
         # Prechecks: ready for pickup tip and press/increment are valid
         instrument = self.get_pipette(mount)
diff --git a/api/src/opentrons/hardware_control/ot3api.py b/api/src/opentrons/hardware_control/ot3api.py
index 7fb76e8f7d7..2a4ed1b8ae6 100644
--- a/api/src/opentrons/hardware_control/ot3api.py
+++ b/api/src/opentrons/hardware_control/ot3api.py
@@ -1799,7 +1799,7 @@ async def hold_jaw_width(self, jaw_width_mm: int) -> None:
 
     async def tip_pickup_moves(
         self,
-        mount: OT3Mount,
+        mount: Union[top_types.Mount, OT3Mount],
         presses: Optional[int] = None,
         increment: Optional[float] = None,
     ) -> None:
@@ -2191,6 +2191,15 @@ async def _tip_motor_action(
             )
             await self.home_gear_motors()
 
+    def cache_tip(
+        self, mount: Union[top_types.Mount, OT3Mount], tip_length: float
+    ) -> None:
+        realmount = OT3Mount.from_mount(mount)
+        instrument = self._pipette_handler.get_pipette(realmount)
+
+        instrument.add_tip(tip_length=tip_length)
+        instrument.set_current_volume(0)
+
     async def pick_up_tip(
         self,
         mount: Union[top_types.Mount, OT3Mount],
@@ -2209,7 +2218,7 @@ def add_tip_to_instr() -> None:
 
         await self._move_to_plunger_bottom(realmount, rate=1.0)
 
-        await self.tip_pickup_moves(realmount, presses, increment)
+        await self.tip_pickup_moves(mount, presses, increment)
 
         add_tip_to_instr()
 
diff --git a/api/src/opentrons/hardware_control/protocols/__init__.py b/api/src/opentrons/hardware_control/protocols/__init__.py
index e47b54dba2c..41de2b54506 100644
--- a/api/src/opentrons/hardware_control/protocols/__init__.py
+++ b/api/src/opentrons/hardware_control/protocols/__init__.py
@@ -59,6 +59,9 @@ class HardwareControlInterface(
     def get_robot_type(self) -> Type[OT2RobotType]:
         return OT2RobotType
 
+    def cache_tip(self, mount: MountArgType, tip_length: float) -> None:
+        ...
+
 
 class FlexHardwareControlInterface(
     ModuleProvider,
@@ -90,6 +93,9 @@ def motor_status_ok(self, axis: Axis) -> bool:
     def encoder_status_ok(self, axis: Axis) -> bool:
         ...
 
+    def cache_tip(self, mount: MountArgType, tip_length: float) -> None:
+        ...
+
 
 __all__ = [
     "HardwareControlAPI",
diff --git a/api/src/opentrons/hardware_control/protocols/liquid_handler.py b/api/src/opentrons/hardware_control/protocols/liquid_handler.py
index 1aae0ec77ed..8baa786dc9f 100644
--- a/api/src/opentrons/hardware_control/protocols/liquid_handler.py
+++ b/api/src/opentrons/hardware_control/protocols/liquid_handler.py
@@ -130,6 +130,14 @@ async def blow_out(
         """
         ...
 
+    async def tip_pickup_moves(
+        self,
+        mount: MountArgType,
+        presses: Optional[int] = None,
+        increment: Optional[float] = None,
+    ) -> None:
+        ...
+
     async def pick_up_tip(
         self,
         mount: MountArgType,
diff --git a/api/src/opentrons/protocol_engine/errors/exceptions.py b/api/src/opentrons/protocol_engine/errors/exceptions.py
index 7f022652d71..49a711d312a 100644
--- a/api/src/opentrons/protocol_engine/errors/exceptions.py
+++ b/api/src/opentrons/protocol_engine/errors/exceptions.py
@@ -128,7 +128,7 @@ def __init__(
         details: Optional[Dict[str, Any]] = None,
         wrapping: Optional[Sequence[EnumeratedError]] = None,
     ) -> None:
-        """Build a PIpetteNotAttachedError."""
+        """Build a PipetteNotAttachedError."""
         super().__init__(ErrorCodes.UNEXPECTED_TIP_REMOVAL, message, details, wrapping)
 
 
diff --git a/api/src/opentrons/protocol_engine/execution/tip_handler.py b/api/src/opentrons/protocol_engine/execution/tip_handler.py
index e43685d2ebb..6638d216095 100644
--- a/api/src/opentrons/protocol_engine/execution/tip_handler.py
+++ b/api/src/opentrons/protocol_engine/execution/tip_handler.py
@@ -172,14 +172,14 @@ async def pick_up_tip(
             nominal_fallback=nominal_tip_geometry.length,
         )
 
-        await self._hardware_api.pick_up_tip(
-            mount=hw_mount,
-            tip_length=actual_tip_length,
-            presses=None,
-            increment=None,
+        await self._hardware_api.tip_pickup_moves(
+            mount=hw_mount, presses=None, increment=None
         )
         await self.verify_tip_presence(pipette_id, TipPresenceStatus.PRESENT)
 
+        self._hardware_api.cache_tip(hw_mount, actual_tip_length)
+        await self._hardware_api.prepare_for_aspirate(hw_mount)
+
         self._hardware_api.set_current_tiprack_diameter(
             mount=hw_mount,
             tiprack_diameter=nominal_tip_geometry.diameter,
diff --git a/api/tests/opentrons/hardware_control/test_instruments.py b/api/tests/opentrons/hardware_control/test_instruments.py
index 3cadca5fed6..3844c904bfc 100644
--- a/api/tests/opentrons/hardware_control/test_instruments.py
+++ b/api/tests/opentrons/hardware_control/test_instruments.py
@@ -556,7 +556,7 @@ async def test_tip_pickup_moves(sim_and_instr):
         spec, _ = hw_api.plan_check_pick_up_tip(
             mount=mount, tip_length=40.0, presses=None, increment=None
         )
-        await hw_api.tip_pickup_moves(mount, spec)
+        await hw_api.tip_pickup_moves(mount=mount)
     else:
         await hw_api.tip_pickup_moves(mount)
 
diff --git a/api/tests/opentrons/hardware_control/test_moves.py b/api/tests/opentrons/hardware_control/test_moves.py
index e5a98173afa..fc87d790719 100644
--- a/api/tests/opentrons/hardware_control/test_moves.py
+++ b/api/tests/opentrons/hardware_control/test_moves.py
@@ -289,22 +289,22 @@ async def test_tip_pickup_routine(hardware_api, monkeypatch):
     await hardware_api.cache_instruments()
     mount = types.Mount.RIGHT
 
-    spec, _ = hardware_api.plan_check_pick_up_tip(
-        mount=mount, tip_length=40.0, presses=None, increment=None
-    )
-    await hardware_api.tip_pickup_moves(mount, spec)
+    presses = 1
+    await hardware_api.tip_pickup_moves(mount, presses=presses)
 
-    tip_motor_routine_num_moves = 2 * len(spec.presses)
+    # tip pickup moves has an initial move to above the tip, then 2
+    # moves for each press
+    tip_motor_routine_num_moves = 2 * presses + 1
 
-    # the tip motor routine should only make the immediate 'press' moves happen
     assert len(_move.call_args_list) == tip_motor_routine_num_moves
     _move.reset_mock()
 
     # pick_up_tip should have the press moves + a plunger move both before and after
     await hardware_api.pick_up_tip(
-        mount=mount, tip_length=40.0, presses=None, increment=None, prep_after=True
+        mount=mount, tip_length=40.0, presses=1, increment=None, prep_after=True
     )
-    assert len(_move.call_args_list) == tip_motor_routine_num_moves + 2
+    # pick_up_tip contains an additional retract
+    assert len(_move.call_args_list) == tip_motor_routine_num_moves + 1
 
 
 async def test_new_critical_point_applied(hardware_api):
diff --git a/api/tests/opentrons/hardware_control/test_pipette_handler.py b/api/tests/opentrons/hardware_control/test_pipette_handler.py
index b6e776a0778..7d2a29e0170 100644
--- a/api/tests/opentrons/hardware_control/test_pipette_handler.py
+++ b/api/tests/opentrons/hardware_control/test_pipette_handler.py
@@ -137,7 +137,7 @@ def test_plan_check_pick_up_tip_with_presses_argument(
     )
 
     spec, _add_tip_to_instrs = subject.plan_check_pick_up_tip(
-        mount, tip_length, presses, increment
+        mount=mount, tip_length=tip_length, presses=presses, increment=increment
     )
 
     assert len(spec.presses) == expected_array_length
diff --git a/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py b/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py
index e7e0284debe..2e5205bdc66 100644
--- a/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py
+++ b/api/tests/opentrons/protocol_engine/execution/test_tip_handler.py
@@ -1,6 +1,7 @@
 """Pipetting execution handler."""
 import pytest
 from decoy import Decoy
+from mock import AsyncMock, patch
 
 from typing import Dict, ContextManager, Optional
 from contextlib import nullcontext as does_not_raise
@@ -14,6 +15,7 @@
 from opentrons.protocol_engine.state import StateView
 from opentrons.protocol_engine.types import TipGeometry, TipPresenceStatus
 from opentrons.protocol_engine.resources import LabwareDataProvider
+from opentrons.protocol_engine.errors.exceptions import TipNotAttachedError
 from opentrons_shared_data.errors.exceptions import (
     CommandPreconditionViolated,
     CommandParameterLimitViolated,
@@ -76,6 +78,73 @@ async def test_create_tip_handler(
     )
 
 
+@pytest.mark.ot3_only
+@pytest.mark.parametrize("tip_state", [TipStateType.PRESENT, TipStateType.ABSENT])
+async def test_flex_pick_up_tip_state(
+    decoy: Decoy,
+    mock_state_view: StateView,
+    mock_labware_data_provider: LabwareDataProvider,
+    tip_rack_definition: LabwareDefinition,
+    tip_state: TipStateType,
+) -> None:
+    """Test the protocol engine's pick_up_tip logic."""
+    from opentrons.hardware_control.ot3api import OT3API
+
+    ot3_hardware_api = decoy.mock(cls=OT3API)
+    decoy.when(ot3_hardware_api.get_robot_type()).then_return(FlexRobotType)
+
+    subject = HardwareTipHandler(
+        state_view=mock_state_view,
+        hardware_api=ot3_hardware_api,
+        labware_data_provider=mock_labware_data_provider,
+    )
+    decoy.when(subject._state_view.config.robot_type).then_return("OT-3 Standard")
+    decoy.when(mock_state_view.pipettes.get_mount("pipette-id")).then_return(
+        MountType.LEFT
+    )
+    decoy.when(
+        mock_state_view.geometry.get_nominal_tip_geometry(
+            pipette_id="pipette-id",
+            labware_id="labware-id",
+            well_name="B2",
+        )
+    ).then_return(TipGeometry(length=50, diameter=5, volume=300))
+
+    decoy.when(
+        await mock_labware_data_provider.get_calibrated_tip_length(
+            pipette_serial="pipette-serial",
+            labware_definition=tip_rack_definition,
+            nominal_fallback=50,
+        )
+    ).then_return(42)
+
+    with patch.object(
+        ot3_hardware_api, "cache_tip", AsyncMock(spec=ot3_hardware_api.cache_tip)
+    ) as mock_add_tip:
+
+        if tip_state == TipStateType.PRESENT:
+            await subject.pick_up_tip(
+                pipette_id="pipette-id",
+                labware_id="labware-id",
+                well_name="B2",
+            )
+            mock_add_tip.assert_called_once()
+        else:
+            decoy.when(
+                await subject.verify_tip_presence(
+                    pipette_id="pipette-id", expected=TipPresenceStatus.PRESENT
+                )
+            ).then_raise(TipNotAttachedError())
+            # if a TipNotAttchedError is caught, we should not add any tip information
+            with pytest.raises(TipNotAttachedError):
+                await subject.pick_up_tip(
+                    pipette_id="pipette-id",
+                    labware_id="labware-id",
+                    well_name="B2",
+                )
+            mock_add_tip.assert_not_called()
+
+
 async def test_pick_up_tip(
     decoy: Decoy,
     mock_state_view: StateView,
@@ -127,9 +196,8 @@ async def test_pick_up_tip(
     assert result == TipGeometry(length=42, diameter=5, volume=300)
 
     decoy.verify(
-        await mock_hardware_api.pick_up_tip(
+        await mock_hardware_api.tip_pickup_moves(
             mount=Mount.LEFT,
-            tip_length=42,
             presses=None,
             increment=None,
         ),