diff --git a/GUI/src/assets/wizard/wizard.js b/GUI/src/assets/wizard/wizard.js
index 1051106f..3de17e4c 100644
--- a/GUI/src/assets/wizard/wizard.js
+++ b/GUI/src/assets/wizard/wizard.js
@@ -6,6 +6,7 @@ export let pages = {
     ODrive: {
         number: 0,
         title: "Which ODrive do you have?",
+        link: "ODrive Version",
         component: "wizardPage",
         next: "Motor_0",
         back: "ODrive",
@@ -25,6 +26,7 @@ export let pages = {
     Motor_0: {
         number: 1,
         title: "Which motor are you using on Axis 0?",
+        link: "Motor 0",
         component: "wizardPage",
         next: "Encoder_0",
         back: "ODrive",
@@ -78,6 +80,7 @@ export let pages = {
     Encoder_0: {
         number: 2,
         title: "Which encoder are you using for Axis 0?",
+        link: "Encoder 0",
         component: "wizardPage",
         next: "Misc_0",
         back: "Motor_0",
@@ -134,6 +137,7 @@ export let pages = {
     Misc_0: {
         number: 3,
         title: "Finishing touches for Axis 0",
+        link: "Misc 0",
         component: "wizardPage",
         next: "Motor_1",
         back: "Encoder_0",
@@ -152,6 +156,7 @@ export let pages = {
     Motor_1: {
         number: 4,
         title: "Which motor are you using for Axis 1?",
+        link: "Motor 1",
         component: "wizardPage",
         next: "Encoder_1",
         back: "Misc_0",
@@ -205,6 +210,7 @@ export let pages = {
     Encoder_1: {
         number: 5,
         title: "Which encoder are you using for Axis 1?",
+        link: "Encoder 1",
         component: "wizardPage",
         next: "Misc_1",
         back: "Motor_1",
@@ -261,6 +267,7 @@ export let pages = {
     Misc_1: {
         number: 6,
         title: "Finishing touches for Axis 1",
+        link: "Misc 1",
         component: "wizardPage",
         next: "End",
         back: "Encoder_1",
@@ -279,6 +286,7 @@ export let pages = {
     End: {
         number: 7,
         title: "Review choices",
+        link: "Review and Apply",
         component: "wizardPage",
         next: "End",
         back: "Misc_1",
diff --git a/GUI/src/components/actions/Action.vue b/GUI/src/components/actions/Action.vue
index 6034022e..d8595c12 100644
--- a/GUI/src/components/actions/Action.vue
+++ b/GUI/src/components/actions/Action.vue
@@ -47,7 +47,7 @@ export default {
         params.append("key", key);
       }
       params.append("val", this.value);
-      params.append("type", "numeric");
+      params.append("type", "number");
       console.log(params.toString());
       let request = {
         params: params,
diff --git a/GUI/src/components/wizard/wizardEncoderIncremental.vue b/GUI/src/components/wizard/wizardEncoderIncremental.vue
index 4b67d216..9aff7be0 100644
--- a/GUI/src/components/wizard/wizardEncoderIncremental.vue
+++ b/GUI/src/components/wizard/wizardEncoderIncremental.vue
@@ -12,6 +12,9 @@
 import odriveEnums from "../../assets/odriveEnums.json";
 export default {
   name: "wizardEncoderIncremental",
+  props: {
+    data: Object,
+  },
   data: function () {
     return {
       cpr_set: false,
@@ -21,13 +24,36 @@ export default {
   methods: {
     setCPR(e) {
       this.cpr = parseInt(e.target.value);
+      let configStub = undefined;
+      if (this.data.axis == "axis0") {
+        configStub = {
+          axis0: {
+            encoder: {
+              config: {
+                cpr: this.cpr,
+                use_index: false,
+                type: odriveEnums.ENCODER_MODE_INCREMENTAL,
+              }
+            }
+          }
+        }
+      }
+      else if (this.data.axis == "axis1") {
+        configStub = {
+          axis: {
+            encoder: {
+              config: {
+                cpr: this.cpr,
+                use_index: false,
+                type: odriveEnums.ENCODER_MODE_INCREMENTAL,
+              }
+            }
+          }
+        }
+      }
       this.$emit("choice", {
         choice: "Incremental",
-        config: {
-          cpr: this.cpr,
-          use_index: false,
-          type: odriveEnums.ENCODER_MODE_INCREMENTAL,
-        },
+        configStub: configStub,
       });
     },
   },
diff --git a/GUI/src/components/wizard/wizardEncoderIncrementalIndex.vue b/GUI/src/components/wizard/wizardEncoderIncrementalIndex.vue
index 040971d9..36d2447a 100644
--- a/GUI/src/components/wizard/wizardEncoderIncrementalIndex.vue
+++ b/GUI/src/components/wizard/wizardEncoderIncrementalIndex.vue
@@ -12,6 +12,9 @@
 import odriveEnums from "../../assets/odriveEnums.json";
 export default {
   name: "wizardEncoderIncremental",
+  props: {
+    data: Object,
+  },
   data: function () {
     return {
       cpr_set: false,
@@ -21,13 +24,36 @@ export default {
   methods: {
     setCPR(e) {
       this.cpr = parseInt(e.target.value);
+      let configStub = undefined;
+      if (this.data.axis == "axis0") {
+        configStub = {
+          axis0: {
+            encoder: {
+              config: {
+                cpr: this.cpr,
+                use_index: true,
+                type: odriveEnums.ENCODER_MODE_INCREMENTAL,
+              }
+            }
+          }
+        }
+      }
+      else if (this.data.axis == "axis1") {
+        configStub = {
+          axis: {
+            encoder: {
+              config: {
+                cpr: this.cpr,
+                use_index: true,
+                type: odriveEnums.ENCODER_MODE_INCREMENTAL,
+              }
+            }
+          }
+        }
+      }
       this.$emit("choice", {
         choice: "IncrementalIndex",
-        config: {
-          cpr: this.cpr,
-          use_index: true,
-          type: odriveEnums.ENCODER_MODE_INCREMENTAL,
-        },
+        configStub: configStub,
       });
     },
   },
diff --git a/GUI/src/components/wizard/wizardMotor.vue b/GUI/src/components/wizard/wizardMotor.vue
index 08adc0c1..548b6619 100644
--- a/GUI/src/components/wizard/wizardMotor.vue
+++ b/GUI/src/components/wizard/wizardMotor.vue
@@ -29,6 +29,7 @@ export default {
   name: "wizardMotor",
   props: {
     data: Object,
+    axis: String,
   },
   data: function () {
     return {
@@ -44,7 +45,13 @@ export default {
   },
   computed: {
     resistance: function () {
-      let keys = ["odrive0", this.data.axis, "motor", "config", "phase_resistance"];
+      let keys = [
+        "odrive0",
+        this.data.axis,
+        "motor",
+        "config",
+        "phase_resistance",
+      ];
       let odriveObj = this.$store.state.odrives;
       for (const key of keys) {
         odriveObj = odriveObj[key];
@@ -52,7 +59,13 @@ export default {
       return parseFloat(odriveObj["val"]).toExponential(3);
     },
     inductance: function () {
-      let keys = ["odrive0", this.data.axis, "motor", "config", "phase_inductance"];
+      let keys = [
+        "odrive0",
+        this.data.axis,
+        "motor",
+        "config",
+        "phase_inductance",
+      ];
       let odriveObj = this.$store.state.odrives;
       for (const key of keys) {
         odriveObj = odriveObj[key];
@@ -63,7 +76,13 @@ export default {
   watch: {
     resistance: function (newVal) {
       console.log("from resistance watcher: " + newVal);
-      let keys = ["odrive0", this.data.axis, "motor", "config", "phase_resistance"];
+      let keys = [
+        "odrive0",
+        this.data.axis,
+        "motor",
+        "config",
+        "phase_resistance",
+      ];
       let odriveObj = this.$store.state.odrives;
       for (const key of keys) {
         odriveObj = odriveObj[key];
@@ -72,7 +91,13 @@ export default {
     },
     inductance: function (newVal) {
       console.log("from inductance watcher: " + newVal);
-      let keys = ["odrive0", this.data.axis, "motor", "config", "phase_inductance"];
+      let keys = [
+        "odrive0",
+        this.data.axis,
+        "motor",
+        "config",
+        "phase_inductance",
+      ];
       let odriveObj = this.$store.state.odrives;
       for (const key of keys) {
         odriveObj = odriveObj[key];
@@ -116,15 +141,39 @@ export default {
         this.kv_set == true
       ) {
         console.log("emitting choice event from other motor");
+        let configStub = undefined;
+        if (this.axis == "axis0") {
+          configStub = {
+            axis0: {
+              motor: {
+                config: {
+                  pole_pairs: this.pole_pairs,
+                  torque_constant: this.torque_constant,
+                  phase_resistance: this.phase_resistance,
+                  phase_inductance: this.phase_inductance,
+                  type: odriveEnums.MOTOR_TYPE_HIGH_CURRENT,
+                },
+              },
+            },
+          };
+        } else if (this.axis == "axis1") {
+          configStub = {
+            axis1: {
+              motor: {
+                config: {
+                  pole_pairs: this.pole_pairs,
+                  torque_constant: this.torque_constant,
+                  phase_resistance: this.phase_resistance,
+                  phase_inductance: this.phase_inductance,
+                  type: odriveEnums.MOTOR_TYPE_HIGH_CURRENT,
+                },
+              },
+            },
+          };
+        }
         this.$emit("choice", {
           choice: "Other motor",
-          config: {
-            pole_pairs: this.pole_pairs,
-            torque_constant: this.torque_constant,
-            phase_resistance: this.phase_resistance,
-            phase_inductance: this.phase_inductance,
-            type: odriveEnums.MOTOR_TYPE_HIGH_CURRENT,
-          },
+          configStub: configStub,
         });
       }
     },
@@ -136,7 +185,7 @@ export default {
         params.append("key", key);
       }
       params.append("val", odriveEnums.AXIS_STATE_MOTOR_CALIBRATION);
-      params.append("type", "numeric");
+      params.append("type", "number");
       console.log(params.toString());
       let request = {
         params: params,
diff --git a/GUI/src/components/wizard/wizardPage.vue b/GUI/src/components/wizard/wizardPage.vue
index 64c29b67..daebc47b 100644
--- a/GUI/src/components/wizard/wizardPage.vue
+++ b/GUI/src/components/wizard/wizardPage.vue
@@ -13,12 +13,13 @@
       />
       <template v-for="customComponent in customComponents">
         <component
-          v-bind:class="{chosen: selectedChoice == customComponent.compName, unchosen: selectedChoice != customComponent.compName}"
+          v-bind:class="{chosen: selectedChoice == customComponent.component, unchosen: selectedChoice != customComponent.component}"
           v-bind:is="customComponent.component"
           v-bind:data="customComponent.data"
           v-bind:config="config"
+          v-bind:axis="axis"
           :key="customComponent.id"
-          v-on:click.native="selectedChoice=customComponent.compName"
+          v-on:click.native="selectedChoice=customComponent.component"
           v-on:choice="handleCustomChoice"
         />
       </template>
@@ -75,6 +76,7 @@ export default {
 .wizard-choices {
   display: flex;
   flex-direction: row;
+  flex-wrap: wrap;
 }
 
 .chosen {
diff --git a/GUI/src/views/Wizard.vue b/GUI/src/views/Wizard.vue
index 359672cd..95a1b024 100644
--- a/GUI/src/views/Wizard.vue
+++ b/GUI/src/views/Wizard.vue
@@ -1,6 +1,16 @@
 <template>
   <div class="wizard">
     <div class="wizard-container">
+      <div class="wizard-nav card">
+        <span class="wizard-nav-title">Wizard Pages</span>
+        <span
+          v-for="page in wizardPages"
+          :key="page.number"
+          class="wizard-link"
+          v-bind:class="{'active-link': currentStep == page}"
+          @click="currentStep=page"
+        >{{page.link}}</span>
+      </div>
       <div class="wizard-page">
         <wizardPage
           :choices="currentStep.choices"
@@ -40,6 +50,11 @@ export default {
       wizardConfig: configTemplate,
     };
   },
+  computed: {
+    wizardPages() {
+      return pages;
+    },
+  },
   methods: {
     choiceHandler(e) {
       this.updateConfig(this.wizardConfig, e.configStub);
@@ -83,9 +98,30 @@ export default {
   padding-bottom: var(--bottom-height);
 }
 
-.wizard-container {
+.wizard-nav {
   display: flex;
   flex-direction: column;
+  height: fit-content;
+}
+
+.wizard-nav-title {
+  text-align: center;
+  font-weight: bold;
+  margin-bottom: 0.4rem;
+}
+
+.wizard-link {
+  margin: 0.2rem;
+  cursor: pointer;
+}
+
+.active-link {
+  text-decoration: underline;
+}
+
+.wizard-container {
+  display: flex;
+  flex-direction: row;
   height: 95vh;
 }