diff --git a/src/lerobot/datasets/lerobot_dataset.py b/src/lerobot/datasets/lerobot_dataset.py
index d9d4b22d0..6da5eb49e 100644
--- a/src/lerobot/datasets/lerobot_dataset.py
+++ b/src/lerobot/datasets/lerobot_dataset.py
@@ -28,6 +28,7 @@ import pandas as pd
 import PIL.Image
 import pyarrow as pa
 import pyarrow.parquet as pq
+from concurrent.futures import ProcessPoolExecutor
 import torch
 import torch.utils
 from huggingface_hub import HfApi, snapshot_download
@@ -1199,6 +1200,9 @@ class LeRobotDataset(torch.utils.data.Dataset):
         use_batched_encoding = self.batch_encoding_size > 1
 
         if has_video_keys and not use_batched_encoding:
+            video_paths = self._encode_multiple_temporary_episode_videos(self.meta.video_keys, episode_index)
+            for (video_key, video_path) in zip(self.meta.video_keys, video_paths):
+                ep_metadata.update(self._save_episode_video(video_key, episode_index, video_path))
             num_cameras = len(self.meta.video_keys)
             if parallel_encoding and num_cameras > 1:
                 # TODO(Steven): Ideally we would like to control the number of threads per encoding such that:
@@ -1397,6 +1401,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
 
         return metadata
 
+    def _save_episode_video(self, video_key: str, episode_index: int, video_path: str | Path | None = None) -> dict:
     def _save_episode_video(
         self,
         video_key: str,
@@ -1404,6 +1409,10 @@ class LeRobotDataset(torch.utils.data.Dataset):
         temp_path: Path | None = None,
     ) -> dict:
         # Encode episode frames into a temporary video
+        if video_path is None:
+            ep_path = self._encode_temporary_episode_video(video_key, episode_index)
+        else:
+            ep_path = video_path
         if temp_path is None:
             ep_path = self._encode_temporary_episode_video(video_key, episode_index)
         else:
@@ -1528,6 +1537,22 @@ class LeRobotDataset(torch.utils.data.Dataset):
         """
         return _encode_video_worker(video_key, episode_index, self.root, self.fps)
 
+    def _encode_multiple_temporary_episode_videos(self, video_keys, episode_index):
+        temp_paths = []
+        img_dirs = []
+        for video_key in video_keys:
+            temp_paths.append(Path(tempfile.mkdtemp(dir=self.root)) / f"{video_key}_{episode_index:03d}.mp4")
+            img_dirs.append(self._get_image_file_dir(episode_index, video_key))
+        fps = [self.fps]*len(video_keys)
+
+        with ProcessPoolExecutor() as executor:
+            executor.map(encode_video_frames,img_dirs,temp_paths,fps)
+
+        for img_dir in img_dirs:
+            shutil.rmtree(img_dir)
+
+        return temp_paths
+
     @classmethod
     def create(
         cls,
diff --git a/src/lerobot/datasets/video_utils.py b/src/lerobot/datasets/video_utils.py
index 8a8a8df60..c7945e6e7 100644
--- a/src/lerobot/datasets/video_utils.py
+++ b/src/lerobot/datasets/video_utils.py
@@ -310,7 +310,7 @@ def encode_video_frames(
     crf: int | None = 30,
     fast_decode: int = 0,
     log_level: int | None = av.logging.ERROR,
-    overwrite: bool = False,
+    overwrite: bool = True,
     preset: int | None = None,
 ) -> None:
     """More info on ffmpeg arguments tuning on `benchmark/video/README.md`"""