diff --git a/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateSystem.java b/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateSystem.java
index 79a4dacb33..b5198fe0b5 100644
--- a/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateSystem.java
+++ b/wpimath/src/main/java/org/wpilib/math/geometry/CoordinateSystem.java
@@ -5,6 +5,7 @@
 package org.wpilib.math.geometry;
 
 import org.wpilib.math.linalg.Matrix;
+import org.wpilib.math.util.MathSharedStore;
 import org.wpilib.math.util.Nat;
 
 /** A helper class that converts Pose3d objects between different standard coordinate frames. */
@@ -37,6 +38,14 @@ public class CoordinateSystem {
     R.assignBlock(0, 1, positiveY.m_axis);
     R.assignBlock(0, 2, positiveZ.m_axis);
 
+    // If determinant is -1, coordinate system is left-handed
+    if (Math.abs(R.det() + 1.0) < 1e-9) {
+      var msg =
+          "CoordinateSystem requires a right-handed system, but a left-handed one was provided";
+      MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());
+      throw new IllegalArgumentException(msg);
+    }
+
     // The change of basis matrix should be a pure rotation. The Rotation3d
     // constructor will verify this by checking for special orthogonality.
     m_rotation = new Rotation3d(R);
diff --git a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
index ded8b55273..8108a4df79 100644
--- a/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
+++ b/wpimath/src/main/native/include/wpi/math/geometry/CoordinateSystem.hpp
@@ -4,10 +4,13 @@
 
 #pragma once
 
+#include <gcem.hpp>
+
 #include "wpi/math/geometry/CoordinateAxis.hpp"
 #include "wpi/math/geometry/Pose3d.hpp"
 #include "wpi/math/geometry/Rotation3d.hpp"
 #include "wpi/math/geometry/Translation3d.hpp"
+#include "wpi/math/linalg/ct_matrix.hpp"
 #include "wpi/util/SymbolExports.hpp"
 
 namespace wpi::math {
@@ -39,6 +42,13 @@ class WPILIB_DLLEXPORT CoordinateSystem {
         {positiveX.m_axis(1), positiveY.m_axis(1), positiveZ.m_axis(1)},
         {positiveX.m_axis(2), positiveY.m_axis(2), positiveZ.m_axis(2)}};
 
+    // If determinant is -1, coordinate system is left-handed
+    if (gcem::abs(ct_matrix{R}.determinant() + 1.0) < 1e-9) {
+      throw std::domain_error(
+          "CoordinateSystem requires a right-handed system, but a left-handed "
+          "one was provided");
+    }
+
     // The change of basis matrix should be a pure rotation. The Rotation3d
     // constructor will verify this by checking for special orthogonality.
     m_rotation = Rotation3d{R};
diff --git a/wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java b/wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java
index 5769cbb2dd..774999dce6 100644
--- a/wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java
+++ b/wpimath/src/test/java/org/wpilib/math/geometry/CoordinateSystemTest.java
@@ -5,6 +5,7 @@
 package org.wpilib.math.geometry;
 
 import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
 
 import org.junit.jupiter.api.Test;
 import org.wpilib.math.util.Units;
@@ -232,4 +233,17 @@ class CoordinateSystemTest {
         CoordinateSystem.EDN(),
         CoordinateSystem.NED());
   }
+
+  @Test
+  void testLeftHandedSystemThrowsException() {
+    assertThrows(
+        IllegalArgumentException.class,
+        () -> new CoordinateSystem(CoordinateAxis.N(), CoordinateAxis.E(), CoordinateAxis.U()));
+    assertThrows(
+        IllegalArgumentException.class,
+        () -> new CoordinateSystem(CoordinateAxis.E(), CoordinateAxis.U(), CoordinateAxis.N()));
+    assertThrows(
+        IllegalArgumentException.class,
+        () -> new CoordinateSystem(CoordinateAxis.N(), CoordinateAxis.W(), CoordinateAxis.D()));
+  }
 }
diff --git a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
index bb6f96483b..e9d7421ae0 100644
--- a/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/CoordinateSystemTest.cpp
@@ -155,3 +155,15 @@ TEST(CoordinateSystemTest, Transform3dEDNtoNED) {
                                       Rotation3d{45_deg, 0_deg, 0_deg}},
                           CoordinateSystem::EDN(), CoordinateSystem::NED());
 }
+
+TEST(CoordinateSystemTest, LeftHandedSystemThrowsException) {
+  EXPECT_THROW(CoordinateSystem(CoordinateAxis::N(), CoordinateAxis::E(),
+                                CoordinateAxis::U()),
+               std::domain_error);
+  EXPECT_THROW(CoordinateSystem(CoordinateAxis::E(), CoordinateAxis::U(),
+                                CoordinateAxis::N()),
+               std::domain_error);
+  EXPECT_THROW(CoordinateSystem(CoordinateAxis::N(), CoordinateAxis::W(),
+                                CoordinateAxis::D()),
+               std::domain_error);
+}