A system comprising: a memory configured to store a first set of therapy parameters for delivery of sensory electrical stimulation at a sensory threshold during a therapy induction phase and a second set of therapy parameters for delivery of subsensory electrical stimulation during a therapy maintenance phase; and therapy delivery circuitry configured to: continuously deliver the sensory electrical stimulation at the sensory threshold to a patient based on the first set of therapy parameters during the therapy induction phase, wherein the sensory electrical stimulation at the sensory threshold is configured to result in a therapeutic effect for incontinence therapy, wherein the therapy induction phase includes at least four weeks after implantation of an implantable medical device within the patient, and wherein the patient perceives delivery of the sensory electrical stimulation at the sensory threshold; and cycle delivery of the subsensory electrical stimulation to the patient, between an on-cycle and an off-cycle, according to a cycle ratio of between about 2% and 50%, based on the second set of therapy parameters during the therapy maintenance phase, the subsensory electrical stimulation having a stimulation intensity less than 80% of the stimulation intensity at the sensory threshold, wherein the therapy maintenance phase immediately follows the therapy induction phase, wherein the subsensory electrical stimulation is configured to result in the therapeutic effect for the incontinence therapy, and wherein the patient does not perceive delivery of the subsensory electrical stimulation. a memory configured to store a first set of therapy parameters for delivery of sensory electrical stimulation at a sensory threshold during a therapy induction phase and a second set of therapy parameters for delivery of subsensory electrical stimulation during a therapy maintenance phase; and therapy delivery circuitry configured to: continuously deliver the sensory electrical stimulation at the sensory threshold to a patient based on the first set of therapy parameters during the therapy induction phase, wherein the sensory electrical stimulation at the sensory threshold is configured to result in a therapeutic effect for incontinence therapy, wherein the therapy induction phase includes at least four weeks after implantation of an implantable medical device within the patient, and wherein the patient perceives delivery of the sensory electrical stimulation at the sensory threshold; and cycle delivery of the subsensory electrical stimulation to the patient, between an on-cycle and an off-cycle, according to a cycle ratio of between about 2% and 50%, based on the second set of therapy parameters during the therapy maintenance phase, the subsensory electrical stimulation having a stimulation intensity less than 80% of the stimulation intensity at the sensory threshold, wherein the therapy maintenance phase immediately follows the therapy induction phase, wherein the subsensory electrical stimulation is configured to result in the therapeutic effect for the incontinence therapy, and wherein the patient does not perceive delivery of the subsensory electrical stimulation. continuously deliver the sensory electrical stimulation at the sensory threshold to a patient based on the first set of therapy parameters during the therapy induction phase, wherein the sensory electrical stimulation at the sensory threshold is configured to result in a therapeutic effect for incontinence therapy, wherein the therapy induction phase includes at least four weeks after implantation of an implantable medical device within the patient, and wherein the patient perceives delivery of the sensory electrical stimulation at the sensory threshold; and cycle delivery of the subsensory electrical stimulation to the patient, between an on-cycle and an off-cycle, according to a cycle ratio of between about 2% and 50%, based on the second set of therapy parameters during the therapy maintenance phase, the subsensory electrical stimulation having a stimulation intensity less than 80% of the stimulation intensity at the sensory threshold, wherein the therapy maintenance phase immediately follows the therapy induction phase, wherein the subsensory electrical stimulation is configured to result in the therapeutic effect for the incontinence therapy, and wherein the patient does not perceive delivery of the subsensory electrical stimulation.