diff --git a/mujoco_py/mjviewer.py b/mujoco_py/mjviewer.py
index cf9ed6e3..18e0c5db 100644
--- a/mujoco_py/mjviewer.py
+++ b/mujoco_py/mjviewer.py
@@ -63,8 +63,7 @@ def key_callback(self, window, key, scancode, action, mods):
         if action == glfw.RELEASE and key == glfw.KEY_ESCAPE:
             print("Pressed ESC")
             print("Quitting.")
-            glfw.terminate()
-            sys.exit(0)
+            glfw.set_window_should_close(window, 1)
 
     def _cursor_pos_callback(self, window, xpos, ypos):
         if not (self._button_left_pressed or self._button_right_pressed):