diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
index c0e694774c..4a0c056149 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
@@ -98,6 +98,15 @@ public interface Subsystem {
     CommandScheduler.getInstance().registerSubsystem(this);
   }
 
+  /**
+   * Constructs a command that does nothing until interrupted. Requires this subsystem.
+   *
+   * @return the command
+   */
+  default Command idle() {
+    return Commands.idle(this);
+  }
+
   /**
    * Constructs a command that runs an action once and finishes. Requires this subsystem.
    *
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
index 876269a1b4..8282682b91 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
@@ -46,6 +46,10 @@ void Subsystem::Register() {
   return CommandScheduler::GetInstance().RegisterSubsystem(this);
 }
 
+CommandPtr Subsystem::Idle() {
+  return cmd::Idle({this});
+}
+
 CommandPtr Subsystem::RunOnce(std::function<void()> action) {
   return cmd::RunOnce(std::move(action), {this});
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
index ea7fbb7591..2ec07f5d88 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
@@ -121,6 +121,15 @@ class Subsystem {
    */
   void Register();
 
+  /**
+   * Constructs a command that does nothing until interrupted. Requires this
+   * subsystem.
+   *
+   * @return the command
+   */
+  [[nodiscard]]
+  CommandPtr Idle();
+
   /**
    * Constructs a command that runs an action once and finishes. Requires this
    * subsystem.