Previous research has demonstrated that motor plans for sequential actions are reused and modified to reduce cognitive cost. The present study investigated if hand or grasp posture selection were more efficient when a previous motor plan could be reused. To this end, reaction time (RT) in a sequential knob-turning task was measured as a proxy for motor planning. We asked participants (n=26, mean age=24.8a, 14 males) to reach for a cylindrical knob and rotate an arrow on screen into a target zone. Initial orientation, final orientation, and hand color cue were varied to create all possible combinations of hand and grasp posture repetition. If motor plan reuse increased planning efficiency, a decrease in RT was expected. A repeated measures (rm) ANOVA on RT showed a main effect of 'hand', F(1,25) = 7.300, p = .012, η² = .009, indicating that planning was more efficient for the dominant hand. More importantly, a second rmANOVA showed a main effect of 'hand repetition', F(1,25) = 11.163, p = .003, η² = .006, but no main effect of 'grasp repetition', F(1,25) < 1, p = .672, η² < .001. The findings suggest a planning advantage when the same hand is used for successive actions, as the previous motor plan can be recalled from working memory. The effect is independent of grasp posture. No such planning advantage is observed for grasp posture repetition, which is in potential contrast to findings from a series of experiments on posture hysteresis in sequential reaching tasks.