An arrangement (14) for control in an animal handling system (11) comprising an automated teat preparation station (13) for automated preparation of the teats of milking animals to be milked and a milking system (12) for milking of the milking animals after their teats have been prepared is provided. The arrangement is operatively connected to the teat preparation station and to the milking system and comprises means (14a) for estimating a time left until the milking system is ready to receive a further milking animal to be milked means (14b) for estimating, for a milking animal present at the teat preparation station, a time for preparation of the teats of the milking animal and initiating means (14c) for initiating automated preparation of the teats of the milking animal at a point of time, which is dependent on said estimated time left until the milking system is ready to receive a further milking animal to be milked and on said estimated time for preparation of the teats of the milking animal.
