diff --git a/klipper/extras/tool.py b/klipper/extras/tool.py
index 2d37eb8b..7df0641b 100644
--- a/klipper/extras/tool.py
+++ b/klipper/extras/tool.py
@@ -96,6 +96,12 @@ def get_offset(self):
             self.gcode_z_offset if self.gcode_z_offset else 0.0,
         ]
 
+    def set_offset(self, offset):
+        x, y, z = offset
+        self.gcode_x_offset = x
+        self.gcode_y_offset = y
+        self.gcode_z_offset = z
+
     cmd_ASSIGN_TOOL_help = 'Assign tool to tool number'
     def cmd_ASSIGN_TOOL(self, gcmd):
         self.assign_tool(gcmd.get_int('N', minval=0), replace = True)
diff --git a/klipper/extras/tools_calibrate.py b/klipper/extras/tools_calibrate.py
index 4a9a4a36..473c9db9 100644
--- a/klipper/extras/tools_calibrate.py
+++ b/klipper/extras/tools_calibrate.py
@@ -51,6 +51,9 @@ def __init__(self, config):
         self.gcode.register_command('TOOL_CALIBRATE_TOOL_OFFSET',
                                     self.cmd_TOOL_CALIBRATE_TOOL_OFFSET,
                                     desc=self.cmd_TOOL_CALIBRATE_TOOL_OFFSET_help)
+        self.gcode.register_command('TOOL_CALIBRATE_TOOL_OFFSET_LIVE_UPDATE',
+                                    self.cmd_TOOL_CALIBRATE_TOOL_OFFSET_LIVE_UPDATE,
+                                    desc=self.cmd_TOOL_CALIBRATE_TOOL_OFFSET_LIVE_UPDATE_help)
         self.gcode.register_command('TOOL_CALIBRATE_SAVE_TOOL_OFFSET',
                                     self.cmd_TOOL_CALIBRATE_SAVE_TOOL_OFFSET,
                                     desc=self.cmd_TOOL_CALIBRATE_SAVE_TOOL_OFFSET_help)
@@ -132,6 +135,22 @@ def cmd_TOOL_CALIBRATE_TOOL_OFFSET(self, gcmd):
                                 % (self.last_result[0], self.last_result[1],
                                    self.last_result[2]))
 
+    cmd_TOOL_CALIBRATE_TOOL_OFFSET_LIVE_UPDATE_help = "Calibrate current tool offset relative to tool 0 (and apply)"
+
+    def cmd_TOOL_CALIBRATE_TOOL_OFFSET_LIVE_UPDATE(self, gcmd):
+        if not self.sensor_location:
+            raise gcmd.error(
+                "No recorded sensor location, please run TOOL_LOCATE_SENSOR first")
+        location = self.locate_sensor(gcmd)
+        self.last_result = [location[i] - self.sensor_location[i] for i in
+                            range(3)]
+        # set live tool offset using a_tool.set_offset(self.last_result)
+        self.printer.lookup_object('toolchanger').get_selected_tool().set_offset(self.last_result)
+
+        self.gcode.respond_info("Tool offset is %.6f,%.6f,%.6f"
+                                % (self.last_result[0], self.last_result[1],
+                                   self.last_result[2]))
+
     cmd_TOOL_CALIBRATE_SAVE_TOOL_OFFSET_help = "Save tool offset calibration to config"
 
     def cmd_TOOL_CALIBRATE_SAVE_TOOL_OFFSET(self, gcmd):