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Prestellar cores, the birthplace of Sun-like stars, form from the fragmentation of the filamentary structure that composes molecular clouds, from which they must inherit at least partially the kinematics. Furthermore, when they are on the verge of gravitational collapse, they show signs of subsonic infall motions. How extended these motions are, which depends on how the collapse occurs, remains largely unknown. We want to investigate the kinematics of the envelope that surrounds the prototypical prestellar core L1544, studying the cloud-core connection. To our aims, we observed the $\rm HCO^+$(1-0) transition in a large map. \hcop is expected to be abundant in the envelope, making it an ideal probe of the large-scale kinematics in the source. We modelled the spectrum at the dust peak by means of a non local-thermodynamical-equilibrium radiative transfer. In order to reproduce the spectrum at the dust peak, a large ($\sim 1\, \rm pc$) envelope is needed, with low density (tens of $\rm cm^{-3}$ at most) and contraction motions, with an inward velocity of $\approx 0.05\,\rm km \, s^{-1}$. We fitted the data cube using the Hill5 model, which implements a simple model {for the optical depth and excitation temperature profiles along the line-of-sight,} in order to obtain a map of the infall velocity. This shows that the infall motions are extended, with typical values in the range $0.1-0.2\,\rm km \, s^{-1}$. Our results suggest that the contraction motions extend in the diffuse envelope surrounding the core, which is consistent with recent magnetic field measurements in the source, which showed that the envelope is magnetically supercritical.