diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
index 2e720c9a7c..0cfda95e7b 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/cpp/subsystems/ExampleSubsystem.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -14,3 +14,7 @@ ExampleSubsystem::ExampleSubsystem() {
 void ExampleSubsystem::Periodic() {
   // Implementation of subsystem periodic method goes here.
 }
+
+void ExampleSubsystem::SimulationPeriodic() {
+  // Implementation of subsystem simulation periodic method goes here.
+}
diff --git a/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h b/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
index f6cd550514..b64c26ff82 100644
--- a/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
+++ b/wpilibcExamples/src/main/cpp/templates/commandbased/include/subsystems/ExampleSubsystem.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -18,6 +18,12 @@ class ExampleSubsystem : public frc2::SubsystemBase {
    */
   void Periodic() override;
 
+  /**
+   * Will be called periodically whenever the CommandScheduler runs during
+   * simulation.
+   */
+  void SimulationPeriodic() override;
+
  private:
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
index 8d56fcf45d..76202fe01c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/commandbased/subsystems/ExampleSubsystem.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -21,4 +21,9 @@ public class ExampleSubsystem extends SubsystemBase {
   public void periodic() {
     // This method will be called once per scheduler run
   }
+
+  @Override
+  public void simulationPeriodic() {
+    // This method will be called once per scheduler run during simulation
+  }
 }