The Andante favori is a piece originally composed as the second movement of the famous Waldstein Sonata, Op. 53. Beethoven agreed with a friend's criticism that the sonata was too lengthy and consequently removed this second movement from the sonata.

The piece exhibits variation-like techniques while possessing a simple and tranquil musical character. Composed between 1803 and 1804, its first edition, published in Vienna in 1805, bore the title Andante for Piano. However, when it was published by Breitkopf & Härtel in Leipzig in 1807, its title was changed to the current Andante favori (Favorite Andante). It is said that Beethoven himself enjoyed performing it.