The invention relates to a method for cleaning a gripping device 5 of a milking station 1 for milking animals. The method comprises the steps of: initiating 21 a gripper device cleaning procedure moving 22 the gripper device 5 to a cleaning position and carrying out 23 the gripper device cleaning procedure. An efficient and automatic cleaning of gripper device is provided. The invention also relates to a milking system comprising means for cleaning a gripper device.
