  We consider noncommutative gravity on a space with canonical noncommutativity
that is based on the commutative MacDowell-Mansouri action. Gravity is treated
as gauge theory of the noncommutative $SO(1,3)_\star$ group and the
Seiberg-Witten (SW) map is used to express noncommutative fields in terms of
the corresponding commutative fields. In the commutative limit the
noncommutative action reduces to the Einstein-Hilbert action plus the
cosmological term and the topological Gauss-Bonnet term. After the SW expansion
in the noncommutative parameter the first order correction to the action, as
expected, vanishes. We calculate the second order correction and write it in a
manifestly gauge covariant way.
