diff --git a/src/BlockTypes/MiniCart.php b/src/BlockTypes/MiniCart.php
index ea3ac13df9a..fc335714966 100644
--- a/src/BlockTypes/MiniCart.php
+++ b/src/BlockTypes/MiniCart.php
@@ -72,9 +72,23 @@ public function __construct( AssetApi $asset_api, AssetDataRegistry $asset_data_
 	protected function initialize() {
 		parent::initialize();
 		add_action( 'wp_loaded', array( $this, 'register_empty_cart_message_block_pattern' ) );
+		add_action( 'wp_loaded', array( $this, 'register_auto_insert' ) );
 		add_action( 'wp_print_footer_scripts', array( $this, 'print_lazy_load_scripts' ), 2 );
 	}
 
+	/**
+	 * Auto-insert the Mini cart block after the navigation block.
+	 *
+	 * Since this is still an experimental feature within Gutenberg, this feature is enabled exclusively in the feature plugin.
+	 */
+	public function register_auto_insert() {
+		if ( ! function_exists( 'gutenberg_register_auto_inserted_block' ) || ! WC_BLOCKS_IS_FEATURE_PLUGIN ) {
+			return;
+		}
+
+		gutenberg_register_auto_inserted_block( 'woocommerce/mini-cart', 'after', 'core/navigation' );
+	}
+
 	/**
 	 * Get the editor script handle for this block type.
 	 *