diff --git a/.gitmodules b/.gitmodules
index 105261a0..79eaa29b 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -2,10 +2,3 @@
 	path = doc/PythonRoboticsPaper
 	url = https://github.com/AtsushiSakai/PythonRoboticsPaper
 
-[submodule "PathTracking/rear_wheel_feedback/pycubicspline"]
-	path = PathTracking/rear_wheel_feedback/pycubicspline
-	url = https://github.com/AtsushiSakai/pycubicspline
-
-[submodule "PathTracking/stanley_controller/pycubicspline"]
-	path = PathTracking/stanley_controller/pycubicspline
-	url = https://github.com/AtsushiSakai/pycubicspline
diff --git a/PathTracking/stanley_controller/pycubicspline b/PathTracking/stanley_controller/pycubicspline
deleted file mode 160000
index 34b741f7..00000000
--- a/PathTracking/stanley_controller/pycubicspline
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 34b741f7eee6cfbe851317ca36dab59fc560ba9a