diff --git a/moveit_ros/moveit_servo/config/servo_parameters.yaml b/moveit_ros/moveit_servo/config/servo_parameters.yaml
index 336af9fd3c1..f5dc6145528 100644
--- a/moveit_ros/moveit_servo/config/servo_parameters.yaml
+++ b/moveit_ros/moveit_servo/config/servo_parameters.yaml
@@ -49,7 +49,7 @@ servo:
   active_subgroup: {
     type: string,
     default_value: "",
-    description: "This parameter can be used to switch online to actuating a sub-joint group of the move group with servo. \
+    description: "This parameter can be used to switch online to actuating a subgroup of the move group. \
     If it is empty, the full move group is actuated."
   }
 
diff --git a/moveit_ros/moveit_servo/src/utils/command.cpp b/moveit_ros/moveit_servo/src/utils/command.cpp
index c51991a11ab..cfb488544e0 100644
--- a/moveit_ros/moveit_servo/src/utils/command.cpp
+++ b/moveit_ros/moveit_servo/src/utils/command.cpp
@@ -275,7 +275,7 @@ JointDeltaResult jointDeltaFromIK(const Eigen::VectorXd& cartesian_position_delt
 
   if (!servo_params.active_subgroup.empty())
   {
-    // Create full delta vector and add delta theta's at actuated joints
+    // Create full delta vector and add delta theta values only at actuated joints
     const auto& move_group_joint_names =
         robot_state->getJointModelGroup(servo_params.move_group_name)->getActiveJointModelNames();
     const auto& subgroup_joint_names =