This study describes the opportunities and challenges of implementing a robot in a long-term care facility for elderly with dementia and cognitive impairment. The robot was implemented for 1 month, to assist with pacesetting during indoor Nordic walking groups. Before, during and after this period, the experiences of caregivers and patients with the robot companion were monitored. Feedback showed that the robot had a positive influence on the participation of the elderly, group coherence, motivation and the atmosphere of the group. The most important challenges were the navigation of the robot around humans and the suitability of the interaction design for different needs of patients and caregivers.