In order to achieve effective human-AI collaboration, it is necessary for an AI agent to align its behavior with the human's expectations. When the agent generates a task plan without such considerations, it may often result in inexplicable behavior from the human's point of view. This may have serious implications for the human, from increased cognitive load to more serious concerns of safety around the physical agent. In this work, we present an approach to generate explicable behavior by minimizing the distance between the agent's plan and the plan expected by the human. To this end, we learn a mapping between plan distances (distances between expected and agent plans) and human's plan scoring scheme. The plan generation process uses this learned model as a heuristic. We demonstrate the effectiveness of our approach in a delivery robot domain.