diff --git a/src/pages/VisProgPage/VisProg.module.css b/src/pages/VisProgPage/VisProg.module.css
index 429e740..11db5cc 100644
--- a/src/pages/VisProgPage/VisProg.module.css
+++ b/src/pages/VisProgPage/VisProg.module.css
@@ -144,4 +144,12 @@
   opacity: 0.5;
   font-style: italic;
   text-decoration: line-through;
+}
+
+.bottomLeftHandle {
+  left: 40% !important;
+}
+
+.bottomRightHandle {
+  left: 60% !important;
 }
\ No newline at end of file
diff --git a/src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts b/src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts
index b2ea31b..87d7d94 100644
--- a/src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/Plan.default.ts
@@ -1,7 +1,7 @@
-import type { Plan } from "./Plan";
+import type { Plan, PlanElement } from "./Plan";
 
 export const defaultPlan: Plan = {
     name: "Default Plan",
     id: "-1",
-    steps: [],
+    steps: [] as PlanElement[],
 }
\ No newline at end of file
diff --git a/src/pages/VisProgPage/visualProgrammingUI/components/Plan.tsx b/src/pages/VisProgPage/visualProgrammingUI/components/Plan.tsx
index dbf38be..e8161c1 100644
--- a/src/pages/VisProgPage/visualProgrammingUI/components/Plan.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/Plan.tsx
@@ -1,3 +1,6 @@
+import { GoalReduce, type GoalNode } from "../nodes/GoalNode"
+import { type Node } from "@xyflow/react"
+
 export type Plan = {
     name: string,
     id: string,
@@ -5,13 +8,9 @@ export type Plan = {
 }
 
 export type PlanElement = Goal | Action
-export type PlanElementTypes = ActionTypes | "goal"
 
 export type Goal = {
-    id: string,
-    name: string,
-    plan: Plan,
-    can_fail: boolean,
+    id: string // we let the reducer figure out the rest dynamically
     type: "goal"
 }
 
@@ -20,22 +19,21 @@ export type Action = SpeechAction | GestureAction | LLMAction
 export type SpeechAction = { id: string, text: string, type:"speech" }
 export type GestureAction = { id: string, gesture: string, isTag: boolean, type:"gesture" }
 export type LLMAction = { id: string, goal: string, type:"llm" }
-
-export type ActionTypes = "speech" | "gesture" | "llm"
+export type ActionTypes = "speech" | "gesture" | "llm";
 
 
 // Extract the wanted information from a plan within the reducing of nodes
-export function PlanReduce(plan?: Plan) {
+export function PlanReduce(_nodes: Node[], plan?: Plan, ) {
     if (!plan) return ""
     return {
         id: plan.id,
-        steps: plan.steps.map((x) => StepReduce(x))
+        steps: plan.steps.map((x) => StepReduce(x, _nodes))
     }
 }
 
 
 // Extract the wanted information from a plan element.
-function StepReduce(planElement: PlanElement) {
+function StepReduce(planElement: PlanElement, _nodes: Node[]) : Record<string, unknown> {
     // We have different types of plan elements, requiring differnt types of output
     switch (planElement.type) {
         case ("speech"):
@@ -57,12 +55,9 @@ function StepReduce(planElement: PlanElement) {
                 goal: planElement.goal,
             }
         case ("goal"):
-            return {
-                id: planElement.id,
-                plan: planElement.plan,
-                can_fail: planElement.can_fail,
-            };
-        default:
+            const nodes = _nodes
+            const thisNode = _nodes.find((x) => x.id === planElement.id)
+            return thisNode ? GoalReduce(thisNode, nodes) : {}
     }
 }
 
@@ -75,7 +70,7 @@ function StepReduce(planElement: PlanElement) {
 export function DoesPlanIterate(plan?: Plan) : boolean {
     // TODO: should recursively check plans that have goals (and thus more plans) in them.
     if (!plan) return false
-    return plan.steps.filter((step) => step.type == "llm").length > 0 || (plan.steps.filter((x) => x.type == "goal").map((x) => DoesPlanIterate(x.plan))).includes(true);
+    return plan.steps.filter((step) => step.type == "llm").length > 0;
 }
 
 /**
@@ -99,4 +94,28 @@ export function GetActionValue(action: Action) {
             return returnAction.goal;
         default:
     }
+}
+
+/**
+ * Inserts a goal into a plan
+ * @param plan: plan to insert goal into
+ * @param goalNode: the goal node to insert into the plan.
+ * @returns: a new plan with the goal inside.
+ */
+export function insertGoalInPlan(plan: Plan, goalNode: GoalNode): Plan {
+    const planElement : Goal = {
+        id: goalNode.id,
+        type: "goal",
+    }
+
+    return {
+        ...plan,
+        steps: [...plan.steps, planElement],
+    }
+}
+
+export function deleteGoalInPlanByID(plan: Plan, goalID: string): Plan {
+    return {...plan,
+        steps: plan.steps.filter((x) => x.id !== goalID)
+    }
 }
\ No newline at end of file
diff --git a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.tsx b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.tsx
index f303900..10ce06d 100644
--- a/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/components/PlanEditor.tsx
@@ -1,7 +1,7 @@
 import {useRef, useState} from "react";
 import useFlowStore from "../VisProgStores.tsx";
 import styles from './PlanEditor.module.css';
-import { GetActionValue, type Action, type ActionTypes, type Goal, type Plan, type PlanElement, type PlanElementTypes } from "../components/Plan";
+import { GetActionValue, type Action, type ActionTypes, type Plan } from "../components/Plan";
 import { defaultPlan } from "../components/Plan.default";
 import { TextField } from "../../../../components/TextField";
 import GestureValueEditor from "./GestureValueEditor"; 
@@ -21,10 +21,10 @@ export default function PlanEditorDialog({
   const dialogRef = useRef<HTMLDialogElement | null>(null);
   const [draftPlan, setDraftPlan] = useState<Plan | null>(null);
   const [newActionType, setNewActionType] = useState<ActionTypes>("speech");
-  const [newPlanElementType, setNewPlanElementType] = useState<PlanElementTypes>("speech")
   const [newActionGestureType, setNewActionGestureType] = useState<boolean>(true);
   const [newActionValue, setNewActionValue] = useState("");
   const { setScrollable } = useFlowStore();
+  const nodes = useFlowStore().nodes;
 
   //Button Actions
   const openCreate = () => {
@@ -58,24 +58,14 @@ export default function PlanEditorDialog({
     const id = crypto.randomUUID();
     switch (newActionType) {
     case "speech":
-     return { id, text: newPlanElementType, type: "speech" };
+     return { id, text: newActionValue, type: "speech" };
     case "gesture":
-        return { id, gesture: newPlanElementType, isTag: newActionGestureType, type: "gesture" };
+        return { id, gesture: newActionValue, isTag: newActionGestureType, type: "gesture" };
     case "llm":
-        return { id, goal: newPlanElementType, type: "llm" };
+        return { id, goal: newActionValue, type: "llm" };
     }
   };
 
-  const buildGoal = (): Goal => {
-      return {
-        id: "",
-        name: "",
-        plan: defaultPlan,
-        can_fail: false,
-        type: "goal"
-      }
-  }
-
   return (<>
       {/* Create and edit buttons */}
       {!plan && (
@@ -121,21 +111,20 @@ export default function PlanEditorDialog({
                       Action Type <wbr />
                       {/* Type selection */}
                       <select
-                          value={newPlanElementType}
+                          value={newActionType}
                           onChange={(e) => {
-                              setNewPlanElementType(e.target.value as PlanElementTypes);
+                              setNewActionType(e.target.value as ActionTypes);
                               // Reset value when action type changes
                               setNewActionValue("");
                           }}>
                       <option value="speech">Speech Action</option>
                       <option value="gesture">Gesture Action</option>
                       <option value="llm">LLM Action</option>
-                      <option value="goal">Seperate Goal</option>
                       </select>
                   </label>
 
                   {/* Action value editor*/}
-                  {newPlanElementType === "gesture" ? (
+                  {newActionType === "gesture" ? (
                       // Gesture get their own editor component
                       <GestureValueEditor
                         value={newActionValue}
@@ -143,25 +132,16 @@ export default function PlanEditorDialog({
                         setType={setNewActionGestureType}
                         placeholder="Gesture name"
                       />
-                  ) 
-                  : (newPlanElementType === "goal" ? (
-                    <div>
-
-
-                    </div>
-                  ) 
-                 :
-                  // Only used for the Speech and LLM elements
-                  (
+                  ) : (
                       <TextField
                           value={newActionValue}
                           setValue={setNewActionValue}
                           placeholder={
-                              newPlanElementType === "speech" ? "Speech text"
+                              newActionType === "speech" ? "Speech text"
                               : "LLM goal"
                           }
                       />
-                  ))}
+                  )}
 
                   {/* Adding steps */}
                   <button
@@ -217,9 +197,13 @@ export default function PlanEditorDialog({
 
                       <span className={styles.stepIndex}>{index + 1}.</span>
                       <span className={styles.stepType}>{step.type}:</span>
-                      <span className={styles.stepName}>{
-                      step.type == "goal" ? ""/* TODO: Add support for goals */
-                      : GetActionValue(step)}
+                      <span className={styles.stepName}>
+                        {
+                        // This just tries to find the goals name, i know it looks ugly:(
+                        step.type === "goal"
+                        ? ((nodes.find(x => x.id === step.id)?.data.name as string) == "" ? 
+                        "unnamed goal": (nodes.find(x => x.id === step.id)?.data.name as string))
+                        : (GetActionValue(step) ?? "")}
                       </span>
                   </div>
                 ))}
diff --git a/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx b/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx
index cce4ac9..ad0a820 100644
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/GoalNode.tsx
@@ -7,11 +7,12 @@ import { Toolbar } from '../components/NodeComponents';
 import styles from '../../VisProg.module.css';
 import { TextField } from '../../../../components/TextField';
 import {MultiConnectionHandle} from "../components/RuleBasedHandle.tsx";
-import {allowOnlyConnectionsFromHandle} from "../HandleRules.ts";
+import {allowOnlyConnectionsFromHandle, allowOnlyConnectionsFromType} from "../HandleRules.ts";
 import useFlowStore from '../VisProgStores';
-import { DoesPlanIterate, PlanReduce, type Plan } from '../components/Plan';
+import { deleteGoalInPlanByID, DoesPlanIterate, insertGoalInPlan, PlanReduce, type Plan, type PlanElement } from '../components/Plan';
 import PlanEditorDialog from '../components/PlanEditor';
 import { MultilineTextField } from '../../../../components/MultilineTextField';
+import { defaultPlan } from '../components/Plan.default.ts';
 
 /**
  * The default data dot a phase node
@@ -115,6 +116,10 @@ export default function GoalNode({id, data}: NodeProps<GoalNode>) {
       <MultiConnectionHandle type="source" position={Position.Right} id="GoalSource" rules={[
         allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"data"}]),
       ]}/>
+
+      <MultiConnectionHandle type="target" position={Position.Bottom} id="GoalTarget" rules={[allowOnlyConnectionsFromType(["goal"])]}/>
+
+
     </div>
   </>;
 }
@@ -132,7 +137,7 @@ export function GoalReduce(node: Node, _nodes: Node[]) {
       name: data.name,
       description: data.description,
       can_fail: data.can_fail,  
-      plan: data.plan ? PlanReduce(data.plan) : "",
+      plan: data.plan ? PlanReduce(_nodes, data.plan) : "",
     }
 }
 
@@ -142,7 +147,22 @@ export function GoalReduce(node: Node, _nodes: Node[]) {
  * @param _sourceNodeId the source of the received connection
  */
 export function GoalConnectionTarget(_thisNode: Node, _sourceNodeId: string) {
-  // no additional connection logic exists yet
+  // Goals should only be targeted by other goals, for them to be part of our plan.
+  const nodes = useFlowStore.getState().nodes;
+  const otherNode = nodes.find((x) => x.id === _sourceNodeId)
+  if (!otherNode || otherNode.type !== "goal") return;
+
+  const data = _thisNode.data as GoalNodeData 
+
+  // First, let's see if we have a plan currently. If not, let's create a default plan with this goal inside.:)
+  if (!data.plan) {
+    data.plan = insertGoalInPlan({...structuredClone(defaultPlan), id: crypto.randomUUID()} as Plan, otherNode as GoalNode)
+  }
+  
+  // Else, lets just insert this goal into our current plan.
+  else {
+    data.plan = insertGoalInPlan(structuredClone(data.plan), otherNode as GoalNode)
+  }
 }
 
 /**
@@ -160,7 +180,9 @@ export function GoalConnectionSource(_thisNode: Node, _targetNodeId: string) {
  * @param _sourceNodeId the source of the disconnected connection
  */
 export function GoalDisconnectionTarget(_thisNode: Node, _sourceNodeId: string) {
-  // no additional connection logic exists yet
+  // We should probably check if our disconnection was by a goal, since it would mean we have to remove it from our plan list.
+  const data = _thisNode.data as GoalNodeData 
+  data.plan = deleteGoalInPlanByID(structuredClone(data.plan) as Plan, _sourceNodeId)
 }
 
 /**
diff --git a/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx b/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx
index 1c1f849..d585ed6 100644
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/PhaseNode.tsx
@@ -108,7 +108,10 @@ export function PhaseReduce(node: Node, nodes: Node[]) {
             console.warn(`No reducer found for node type ${type}`);
             result[type + "s"] = [];
         } else {
-            result[type + "s"] = typedChildren.map((child) => reducer(child, nodes));
+            result[type + "s"] = [];
+            for (const typedChild of typedChildren) {
+              (result[type + "s"] as object[]).push(reducer(typedChild, nodes))
+            }
         }
     });
 
diff --git a/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx b/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx
index f05fd87..e6b778a 100644
--- a/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx
+++ b/src/pages/VisProgPage/visualProgrammingUI/nodes/TriggerNode.tsx
@@ -10,9 +10,11 @@ import styles from '../../VisProg.module.css';
 import {MultiConnectionHandle, SingleConnectionHandle} from "../components/RuleBasedHandle.tsx";
 import {allowOnlyConnectionsFromHandle, allowOnlyConnectionsFromType} from "../HandleRules.ts";
 import useFlowStore from '../VisProgStores';
-import { PlanReduce, type Plan } from '../components/Plan';
+import { deleteGoalInPlanByID, insertGoalInPlan, PlanReduce, type Plan } from '../components/Plan';
 import PlanEditorDialog from '../components/PlanEditor';  
 import { BasicBeliefReduce } from './BasicBeliefNode';
+import type { GoalNode } from './GoalNode.tsx';
+import { defaultPlan } from '../components/Plan.default.ts';
 
 /**
  * The default data structure for a Trigger node
@@ -65,10 +67,25 @@ export default function TriggerNode(props: NodeProps<TriggerNode>) {
       <MultiConnectionHandle type="source" position={Position.Right} id="TriggerSource" rules={[
         allowOnlyConnectionsFromHandle([{nodeType:"phase",handleId:"data"}]),
       ]}/>
-      <SingleConnectionHandle type="target" position={Position.Bottom} id="beliefs" rules={[
-              allowOnlyConnectionsFromType(["basic_belief"])
-      ]}/>
+      <SingleConnectionHandle
+        type="target"
+        position={Position.Bottom}
+        id="beliefs"
+        style={{ left: '40%' }} 
+        rules={[
+          allowOnlyConnectionsFromType(['basic_belief']),
+        ]}
+      />
       
+      <MultiConnectionHandle
+        type="target"
+        position={Position.Bottom}
+        id="GoalTarget"
+        style={{ left: '60%' }}
+        rules={[
+          allowOnlyConnectionsFromType(['goal']),
+        ]}
+      />
 
       <PlanEditorDialog
           plan={data.plan}
@@ -96,7 +113,7 @@ export function TriggerReduce(node: Node, nodes: Node[]) {
   return {
     id: node.id,
     condition: conditionData, // Make sure we have a condition before reducing, or default to ""
-    plan: !data.plan ? "" : PlanReduce(data.plan), // Make sure we have a plan when reducing, or default to ""
+    plan: !data.plan ? "" : PlanReduce(nodes, data.plan), // Make sure we have a plan when reducing, or default to ""
   }
   
 }
@@ -110,9 +127,25 @@ export function TriggerConnectionTarget(_thisNode: Node, _sourceNodeId: string)
   // no additional connection logic exists yet
   const data = _thisNode.data as TriggerNodeData;
   // If we got a belief connected, this is the condition for the norm.
-  if ((useFlowStore.getState().nodes.find((node) => node.id === _sourceNodeId && node.type === 'basic_belief' /* TODO: Add the option for an inferred belief */))) {
+  const nodes = useFlowStore.getState().nodes;
+  const otherNode = nodes.find((x) => x.id === _sourceNodeId)
+  if (!otherNode) return;
+
+  if (otherNode.type === 'basic_belief' /* TODO: Add the option for an inferred belief */) {
       data.condition = _sourceNodeId;
+  }
+
+  else if (otherNode.type === 'goal') {
+      // First, let's see if we have a plan currently. If not, let's create a default plan with this goal inside.:)
+    if (!data.plan) {
+      data.plan = insertGoalInPlan({...structuredClone(defaultPlan), id: crypto.randomUUID()} as Plan, otherNode as GoalNode)
     }
+
+    // Else, lets just insert this goal into our current plan.
+    else {
+      data.plan = insertGoalInPlan(structuredClone(data.plan), otherNode as GoalNode)
+    }
+  }
 }
 
 /**
@@ -134,6 +167,8 @@ export function TriggerDisconnectionTarget(_thisNode: Node, _sourceNodeId: strin
   const data = _thisNode.data as TriggerNodeData;
     // remove if the target of disconnection was our condition
     if (_sourceNodeId == data.condition) data.condition = undefined
+    
+  data.plan = deleteGoalInPlanByID(structuredClone(data.plan) as Plan, _sourceNodeId)
 }
 
 /**
diff --git a/test/pages/visProgPage/visualProgrammingUI/components/PlanEditor.test.tsx b/test/pages/visProgPage/visualProgrammingUI/components/PlanEditor.test.tsx
index dd9b149..6616ad0 100644
--- a/test/pages/visProgPage/visualProgrammingUI/components/PlanEditor.test.tsx
+++ b/test/pages/visProgPage/visualProgrammingUI/components/PlanEditor.test.tsx
@@ -497,7 +497,7 @@ describe('PlanEditorDialog', () => {
           ]
         }
 
-        const actualResult = PlanReduce(testplan)
+        const actualResult = PlanReduce([], testplan) // TODO: FIX THIS TEST :)))
 
         expect(actualResult).toEqual(expectedResult)
     });