diff --git a/docs/openscenarioDSL.rst b/docs/openscenarioDSL.rst
index cb55a734..22763a4c 100644
--- a/docs/openscenarioDSL.rst
+++ b/docs/openscenarioDSL.rst
@@ -72,7 +72,7 @@ Element Tag             Support              Notes
 ``float``               :raw-html:`✅`    
 ``global``              :raw-html:`✅`       
 ``hard``                :raw-html:`❌`         
-``if``                  :raw-html:`❌`       
+``if``                  :raw-html:`✅`       
 ``import``              :raw-html:`✅`    
 ``inherits``            :raw-html:`✅`    
 ``int``                 :raw-html:`✅`    
diff --git a/scenario_execution/scenario_execution/model/model_to_py_tree.py b/scenario_execution/scenario_execution/model/model_to_py_tree.py
index c6457e61..4fcdad22 100644
--- a/scenario_execution/scenario_execution/model/model_to_py_tree.py
+++ b/scenario_execution/scenario_execution/model/model_to_py_tree.py
@@ -171,14 +171,25 @@ def visit_do_member(self, node: DoMember):
             self.__cur_behavior = parent
 
         def visit_wait_directive(self, node: WaitDirective):
-            child = node.get_only_child()
-
-            if isinstance(child, (EventCondition, EventReference)):
-                behavior = self.visit(child)
-
-                self.__cur_behavior.add_child(behavior)
+            condition = None
+            reference = None
+            for child in node.get_children():
+                if isinstance(child, EventCondition):
+                    condition = self.visit(child)
+                elif isinstance(child, EventReference):
+                    reference = self.visit(child)
+                else:
+                    raise OSC2ParsingError(msg="Invalid wait directive.", context=node.get_ctx())
+            
+            if condition is None:
+                self.__cur_behavior.add_child(reference)
+            elif reference is None:
+                self.__cur_behavior.add_child(condition)
             else:
-                raise OSC2ParsingError(msg="Invalid wait directive.", context=node.get_ctx())
+                conditional_wait = py_trees.composites.Sequence(name="wait conditional", memory=False)
+                conditional_wait.add_child(reference)
+                conditional_wait.add_child(condition)
+                self.__cur_behavior.add_child(conditional_wait)
 
         def visit_emit_directive(self, node: EmitDirective):
             if node.event_name in ['start', 'end', 'fail']: