diff --git a/src/QABugs/QABugs_19.cxx b/src/QABugs/QABugs_19.cxx
index 4d8b65470c..8886120533 100755
--- a/src/QABugs/QABugs_19.cxx
+++ b/src/QABugs/QABugs_19.cxx
@@ -1735,6 +1735,38 @@ struct QABugs_NHandleClass
   }
 };
 
+#include <XCAFDoc_ColorTool.hxx>
+#include <STEPControl_StepModelType.hxx>
+#include <STEPCAFControl_Writer.hxx>
+static Standard_Integer OCC23951 (Draw_Interpretor& di, Standard_Integer argc, const char ** argv)
+{
+  if (argc != 1) {
+    di << "Usage: " << argv[0] << " invalid number of arguments" << "\n";
+    return 1;
+  }
+  Handle(TDocStd_Document) aDoc = new TDocStd_Document("dummy");;
+  TopoDS_Shape s1 = BRepPrimAPI_MakeBox(1,1,1).Shape();
+  TDF_Label lab1 = XCAFDoc_DocumentTool::ShapeTool (aDoc->Main ())->NewShape();
+  XCAFDoc_DocumentTool::ShapeTool (aDoc->Main ())->SetShape(lab1, s1);
+  TDataStd_Name::Set(lab1, "Box1");
+        
+  Quantity_Color yellow(1,1,0, Quantity_TOC_RGB);
+  XCAFDoc_DocumentTool::ColorTool (aDoc->Main())->SetColor(lab1, yellow, XCAFDoc_ColorGen);
+  XCAFDoc_DocumentTool::ColorTool(aDoc->Main())->SetVisibility(lab1, 0);
+
+  STEPControl_StepModelType mode = STEPControl_AsIs;
+  STEPCAFControl_Writer writer;
+  if ( ! writer.Transfer (aDoc, mode ) )
+  {
+    di << "The document cannot be translated or gives no result"  <<  "\n";
+    return 1;
+  }
+
+  writer.Write("test_box.step");
+  return 0;
+}
+
+
 //=======================================================================
 //function : OCC24622
 //purpose  : The command tests sourcing Image_PixMap to AIS_TexturedShape
@@ -2277,6 +2309,7 @@ void QABugs::Commands_19(Draw_Interpretor& theCommands) {
   theCommands.Add ("OCC24565", "OCC24565 FileNameIGS FileNameSTOR", __FILE__, OCC24565, group);
   theCommands.Add ("OCC24755", "OCC24755", __FILE__, OCC24755, group);
   theCommands.Add ("OCC24834", "OCC24834", __FILE__, OCC24834, group);
+  theCommands.Add ("OCC23951", "OCC23951", __FILE__, OCC23951, group);
   theCommands.Add ("OCC24931", "OCC24931", __FILE__, OCC24931, group);
   return;
 }
diff --git a/src/STEPCAFControl/STEPCAFControl_Writer.cxx b/src/STEPCAFControl/STEPCAFControl_Writer.cxx
index 89c51c2b3c..1b8c342ddb 100644
--- a/src/STEPCAFControl/STEPCAFControl_Writer.cxx
+++ b/src/STEPCAFControl/STEPCAFControl_Writer.cxx
@@ -1079,7 +1079,7 @@ Standard_Boolean STEPCAFControl_Writer::WriteColors (const Handle(XSControl_Work
       TDF_Label lab = seq.Value(j);
       XCAFPrs_Style style;
       Quantity_Color C;
-      if ( isComponent && lab == L ) {
+      if ( lab == L ) {
         // check for invisible status of object on label
         if ( !CTool->IsVisible( lab ) ) {
           isVisible = Standard_False;
@@ -1167,28 +1167,28 @@ Standard_Boolean STEPCAFControl_Writer::WriteColors (const Handle(XSControl_Work
           newItems->SetValue( el++, Handle(StepRepr_RepresentationItem)::DownCast(Styles.Style(si)));
 //           WP->Model()->AddWithRefs ( Handle(StepRepr_RepresentationItem)::DownCast (Styles.Style(si)));
         }
-        if ( !isVisible ) {
-          // create invisibility item and refer for stiledItem
-          Handle(StepVisual_Invisibility) Invsblt = new StepVisual_Invisibility();
-          Handle(StepVisual_HArray1OfInvisibleItem) HInvsblItm = 
-            new StepVisual_HArray1OfInvisibleItem (1,Styles.NbStyles());
-          // put all style item into the harray
-          for ( si=1; si <= Styles.NbStyles(); si++ ) {
-            Handle(StepRepr_RepresentationItem) styledItm =
-              Handle(StepRepr_RepresentationItem)::DownCast(Styles.Style(si));
-            StepVisual_InvisibleItem anInvItem;
-            anInvItem.SetValue( styledItm );
-            HInvsblItm->SetValue( si, anInvItem );
-          }
-          // set the invisibility of items
-          Invsblt->Init( HInvsblItm );
-          WS->Model()->AddWithRefs( Invsblt );
-        }
-        
+       
         if (newItems->Length() > 0)
           aMDGPR->SetItems( newItems );
       } //end of work with CDSR
     }
+    if ( !isVisible ) {
+    // create invisibility item and refer for stiledItem
+      Handle(StepVisual_Invisibility) Invsblt = new StepVisual_Invisibility();
+      Handle(StepVisual_HArray1OfInvisibleItem) HInvsblItm = 
+        new StepVisual_HArray1OfInvisibleItem (1,Styles.NbStyles());
+      // put all style item into the harray
+      for ( Standard_Integer si=1; si <= Styles.NbStyles(); si++ ) {
+        Handle(StepRepr_RepresentationItem) styledItm =
+          Handle(StepRepr_RepresentationItem)::DownCast(Styles.Style(si));
+        StepVisual_InvisibleItem anInvItem;
+        anInvItem.SetValue( styledItm );
+        HInvsblItm->SetValue( si, anInvItem );
+      }
+      // set the invisibility of items
+      Invsblt->Init( HInvsblItm );
+      WS->Model()->AddWithRefs( Invsblt );
+    }
   }
 
   return Standard_True;
diff --git a/tests/bugs/xde/bug23951 b/tests/bugs/xde/bug23951
new file mode 100644
index 0000000000..72c6f837e5
--- /dev/null
+++ b/tests/bugs/xde/bug23951
@@ -0,0 +1,23 @@
+puts "=========="
+puts "OCC23951"
+puts "=========="
+puts ""
+#####################################################################################
+# Visibility of free, simple shapes not saved when writing XCAF Document info STEP
+#####################################################################################
+
+pload QAcommands
+
+set info [OCC23951]
+
+if { [regexp "Write  Done" $info] != 1 } {
+  puts "Error: file was not written"
+} else {
+  puts "OK: file was written"
+}
+
+stepread test_box.step a *
+axo
+fit
+
+set only_screen_axo 1