In one example, a system includes a therapy module and a processor. The processor detects a voiding event of a patient and controls the therapy module to deliver electrical stimulation to the patient at a first intensity level for a period of time in response to the detection of the voiding event. Immediately following the period of time, the processor controls the therapy module to increase intensity of the electrical stimulation from the first intensity level to a second intensity level before a subsequent voiding event of the patient by at least controlling the therapy module to deliver stimulation to the patient at a plurality of intermediate intensity levels between the first and second intensity levels prior to delivering stimulation to the patient at the second intensity level following the detection of the voiding event.
