diff --git a/android_env/components/action_fns.py b/android_env/components/action_fns.py
index 0a2e125..162cec0 100644
--- a/android_env/components/action_fns.py
+++ b/android_env/components/action_fns.py
@@ -88,31 +88,25 @@ def _prepare_touch_action(
   """
 
   touch_events = []
-  for i, finger_action in enumerate(_split_touch_action(action, num_fingers)):
-    is_touch = finger_action['action_type'] == action_type_lib.ActionType.TOUCH
-    touch_position = finger_action['touch_position']
+
+  # First finger
+  is_touch = action['action_type'] == action_type_lib.ActionType.TOUCH
+  touch_position = action['touch_position']
+  touch_pixels = pixel_fns.touch_position_to_pixel_position(
+      touch_position, width_height=(screen_width, screen_height)
+  )
+  touch_events.append((touch_pixels[0], touch_pixels[1], is_touch, 0))
+
+  # Subsequent fingers
+  for i in range(2, num_fingers + 1):
+    is_touch = action[f'action_type_{i}'] == action_type_lib.ActionType.TOUCH
+    touch_position = action[f'touch_position_{i}']
     touch_pixels = pixel_fns.touch_position_to_pixel_position(
         touch_position, width_height=(screen_width, screen_height)
     )
-    touch_events.append((touch_pixels[0], touch_pixels[1], is_touch, i))
-  return touch_events
+    touch_events.append((touch_pixels[0], touch_pixels[1], is_touch, i - 1))
 
-
-def _split_touch_action(
-    action: dict[str, np.ndarray], num_fingers: int
-) -> list[dict[str, np.ndarray]]:
-  """Splits a multitouch action into a list of single-touch actions."""
-
-  single_touch_actions = [{
-      'action_type': action['action_type'],
-      'touch_position': action['touch_position'],
-  }]
-  for i in range(2, num_fingers + 1):
-    single_touch_actions.append({
-        'action_type': action[f'action_type_{i}'],
-        'touch_position': action[f'touch_position_{i}'],
-    })
-  return single_touch_actions
+  return touch_events
 
 
 def lift_all_fingers_action(num_fingers: int) -> dict[str, np.ndarray]:
diff --git a/android_env/components/action_fns_test.py b/android_env/components/action_fns_test.py
index 20b46b0..4f25ad7 100644
--- a/android_env/components/action_fns_test.py
+++ b/android_env/components/action_fns_test.py
@@ -13,13 +13,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import timeit
 from unittest import mock
 
+from absl import flags
 from absl.testing import absltest
 from absl.testing import parameterized
 from android_env.components import action_fns
 from android_env.components import action_type as action_type_lib
 from android_env.components import errors
+from android_env.components import pixel_fns
 from android_env.components.simulators import base_simulator
 import numpy as np
 
@@ -183,5 +186,103 @@ def test_lift_all_fingers_action(
       np.testing.assert_array_equal(v, output[k])
 
 
+_RUN_BENCHMARKS = flags.DEFINE_bool(
+    'run_benchmarks', False, 'Whether to run microbenchmarks.'
+)
+
+
+def _old_split_touch_action(action, num_fingers):
+  single_touch_actions = [{
+      'action_type': action['action_type'],
+      'touch_position': action['touch_position'],
+  }]
+  for i in range(2, num_fingers + 1):
+    single_touch_actions.append({
+        'action_type': action[f'action_type_{i}'],
+        'touch_position': action[f'touch_position_{i}'],
+    })
+  return single_touch_actions
+
+
+def _old_prepare_touch_action(action, screen_width, screen_height, num_fingers):
+  touch_events = []
+  for i, finger_action in enumerate(
+      _old_split_touch_action(action, num_fingers)
+  ):
+    is_touch = finger_action['action_type'] == action_type_lib.ActionType.TOUCH
+    touch_position = finger_action['touch_position']
+    touch_pixels = pixel_fns.touch_position_to_pixel_position(
+        touch_position, width_height=(screen_width, screen_height)
+    )
+    touch_events.append((touch_pixels[0], touch_pixels[1], is_touch, i))
+  return touch_events
+
+
+_BENCHMARK_ACTION_1F = {
+    'action_type': np.array(action_type_lib.ActionType.TOUCH),
+    'touch_position': np.array([0.2, 0.5], np.float32),
+}
+
+_BENCHMARK_ACTION_3F = {
+    'action_type': np.array(action_type_lib.ActionType.TOUCH),
+    'touch_position': np.array([0.2, 0.5], np.float32),
+    'action_type_2': np.array(action_type_lib.ActionType.LIFT),
+    'touch_position_2': np.array([0.1, 0.2], np.float32),
+    'action_type_3': np.array(action_type_lib.ActionType.TOUCH),
+    'touch_position_3': np.array([0.5, 0.2], np.float32),
+}
+
+
+class ActionFnsBenchmark(parameterized.TestCase):
+
+  def test_prepare_touch_action(self):
+    if not _RUN_BENCHMARKS.value:
+      self.skipTest('Benchmark disabled')
+
+    number = 100000
+
+    # 1 finger
+    t_old_1 = timeit.Timer(
+        '_old_prepare_touch_action(_BENCHMARK_ACTION_1F, 800, 600, 1)',
+        globals=globals(),
+    )
+    res_old_1 = t_old_1.timeit(number=number)
+    print(
+        f'BenchmarkPrepareTouchAction_1f_Old {number}'
+        f' {res_old_1 / number * 1e9:.0f} ns/op'
+    )
+
+    t_new_1 = timeit.Timer(
+        'action_fns._prepare_touch_action(_BENCHMARK_ACTION_1F, 800, 600, 1)',
+        globals=globals(),
+    )
+    res_new_1 = t_new_1.timeit(number=number)
+    print(
+        f'BenchmarkPrepareTouchAction_1f_New {number}'
+        f' {res_new_1 / number * 1e9:.0f} ns/op'
+    )
+
+    # 3 fingers
+    t_old_3 = timeit.Timer(
+        '_old_prepare_touch_action(_BENCHMARK_ACTION_3F, 800, 600, 3)',
+        globals=globals(),
+    )
+    res_old_3 = t_old_3.timeit(number=number)
+    print(
+        f'BenchmarkPrepareTouchAction_3f_Old {number}'
+        f' {res_old_3 / number * 1e9:.0f} ns/op'
+    )
+
+    t_new_3 = timeit.Timer(
+        'action_fns._prepare_touch_action(_BENCHMARK_ACTION_3F, 800, 600, 3)',
+        globals=globals(),
+    )
+    res_new_3 = t_new_3.timeit(number=number)
+    print(
+        f'BenchmarkPrepareTouchAction_3f_New {number}'
+        f' {res_new_3 / number * 1e9:.0f} ns/op'
+    )
+
+
 if __name__ == '__main__':
   absltest.main()