The attention toward integrating Lean and Industry 4.0 (I4.0) has increased in the last few years. Nevertheless, the focus was mainly on how I4.0 can support Lean Management practices and how Lean tools can be digitalised through I4.0 technologies. Some authors have pointed out the need for further research on how Lean Management can support and benefit the introduction of Industry 4.0 technologies in firms. In particular, some authors supposed that Lean has a facilitating effect towards I4.0 implementations. This work aims to enrich the existing knowledge, stressing the support Lean Management can give to implementing I4.0 technologies. This article shows, through a case study conducted using the A3 framework, how Lean has been applied to reorganise a warehouse to facilitate the implementation of Automated Guided Vehicles (AGVs), showing the benefits of this approach.