Run-time task migration in a heterogeneous multiprocessor System-on-Chip (MP-SoC) is a challenge that requires cooperation between the task and the operating system. In task migration, minimization of the overhead during normal task execution (i.e when not migrating) and the minimization of the migration reaction time are important. We introduce a novel technique that reuses the processor's debug registers in order to minimize the overhead during normal execution. This paper explains our task migration proof-of-concept setup and compares it to the state-of-the art. By reusing existing hardware and software functionality our approach reduces the run time overhead.