diff --git a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
index 43b72db2d2..9cbd414e3a 100644
--- a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
@@ -16,6 +16,7 @@ ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 1>& plant,
                          const DCMotor& gearbox, double gearing,
                          units::meter_t drumRadius, units::meter_t minHeight,
                          units::meter_t maxHeight, bool simulateGravity,
+                         units::meter_t startingHeight,
                          const std::array<double, 1>& measurementStdDevs)
     : LinearSystemSim(plant, measurementStdDevs),
       m_gearbox(gearbox),
@@ -23,22 +24,21 @@ ElevatorSim::ElevatorSim(const LinearSystem<2, 1, 1>& plant,
       m_minHeight(minHeight),
       m_maxHeight(maxHeight),
       m_gearing(gearing),
-      m_simulateGravity(simulateGravity) {}
+      m_simulateGravity(simulateGravity) {
+  SetState(
+      frc::Vectord<2>{std::clamp(startingHeight, minHeight, maxHeight), 0.0});
+}
 
 ElevatorSim::ElevatorSim(const DCMotor& gearbox, double gearing,
                          units::kilogram_t carriageMass,
                          units::meter_t drumRadius, units::meter_t minHeight,
                          units::meter_t maxHeight, bool simulateGravity,
+                         units::meter_t startingHeight,
                          const std::array<double, 1>& measurementStdDevs)
-    : LinearSystemSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
-                                                     drumRadius, gearing),
-                      measurementStdDevs),
-      m_gearbox(gearbox),
-      m_drumRadius(drumRadius),
-      m_minHeight(minHeight),
-      m_maxHeight(maxHeight),
-      m_gearing(gearing),
-      m_simulateGravity(simulateGravity) {}
+    : ElevatorSim(LinearSystemId::ElevatorSystem(gearbox, carriageMass,
+                                                 drumRadius, gearing),
+                  gearbox, gearing, drumRadius, minHeight, maxHeight,
+                  simulateGravity, startingHeight, measurementStdDevs) {}
 
 bool ElevatorSim::WouldHitLowerLimit(units::meter_t elevatorHeight) const {
   return elevatorHeight <= m_minHeight;
diff --git a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
index 58392d6709..67dfa3fde3 100644
--- a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
@@ -19,6 +19,7 @@ SingleJointedArmSim::SingleJointedArmSim(
     const LinearSystem<2, 1, 1>& system, const DCMotor& gearbox, double gearing,
     units::meter_t armLength, units::radian_t minAngle,
     units::radian_t maxAngle, bool simulateGravity,
+    units::radian_t startingAngle,
     const std::array<double, 1>& measurementStdDevs)
     : LinearSystemSim<2, 1, 1>(system, measurementStdDevs),
       m_armLen(armLength),
@@ -26,17 +27,20 @@ SingleJointedArmSim::SingleJointedArmSim(
       m_maxAngle(maxAngle),
       m_gearbox(gearbox),
       m_gearing(gearing),
-      m_simulateGravity(simulateGravity) {}
+      m_simulateGravity(simulateGravity) {
+  SetState(frc::Vectord<2>{startingAngle, 0.0});
+}
 
 SingleJointedArmSim::SingleJointedArmSim(
     const DCMotor& gearbox, double gearing, units::kilogram_square_meter_t moi,
     units::meter_t armLength, units::radian_t minAngle,
     units::radian_t maxAngle, bool simulateGravity,
+    units::radian_t startingAngle,
     const std::array<double, 1>& measurementStdDevs)
     : SingleJointedArmSim(
           LinearSystemId::SingleJointedArmSystem(gearbox, moi, gearing),
           gearbox, gearing, armLength, minAngle, maxAngle, simulateGravity,
-          measurementStdDevs) {}
+          startingAngle, measurementStdDevs) {}
 
 bool SingleJointedArmSim::WouldHitLowerLimit(units::radian_t armAngle) const {
   return armAngle <= m_minAngle;
diff --git a/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h b/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
index cf408107c3..5bc3083e98 100644
--- a/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/ElevatorSim.h
@@ -32,12 +32,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
    * @param minHeight          The minimum allowed height of the elevator.
    * @param maxHeight          The maximum allowed height of the elevator.
    * @param simulateGravity    Whether gravity should be simulated or not.
+   * @param startingHeight     The starting height of the elevator.
    * @param measurementStdDevs The standard deviation of the measurements.
    */
   ElevatorSim(const LinearSystem<2, 1, 1>& plant, const DCMotor& gearbox,
               double gearing, units::meter_t drumRadius,
               units::meter_t minHeight, units::meter_t maxHeight,
-              bool simulateGravity,
+              bool simulateGravity, units::meter_t startingHeight,
               const std::array<double, 1>& measurementStdDevs = {0.0});
 
   /**
@@ -53,12 +54,13 @@ class ElevatorSim : public LinearSystemSim<2, 1, 1> {
    * @param minHeight          The minimum allowed height of the elevator.
    * @param maxHeight          The maximum allowed height of the elevator.
    * @param simulateGravity    Whether gravity should be simulated or not.
+   * @param startingHeight     The starting height of the elevator.
    * @param measurementStdDevs The standard deviation of the measurements.
    */
   ElevatorSim(const DCMotor& gearbox, double gearing,
               units::kilogram_t carriageMass, units::meter_t drumRadius,
               units::meter_t minHeight, units::meter_t maxHeight,
-              bool simulateGravity,
+              bool simulateGravity, units::meter_t startingHeight,
               const std::array<double, 1>& measurementStdDevs = {0.0});
 
   /**
diff --git a/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h b/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
index bf0de42bdf..06621aaeba 100644
--- a/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/SingleJointedArmSim.h
@@ -31,12 +31,14 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
    * @param minAngle           The minimum angle that the arm is capable of.
    * @param maxAngle           The maximum angle that the arm is capable of.
    * @param simulateGravity    Whether gravity should be simulated or not.
+   * @param startingAngle      The initial position of the arm.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
   SingleJointedArmSim(const LinearSystem<2, 1, 1>& system,
                       const DCMotor& gearbox, double gearing,
                       units::meter_t armLength, units::radian_t minAngle,
                       units::radian_t maxAngle, bool simulateGravity,
+                      units::radian_t startingAngle,
                       const std::array<double, 1>& measurementStdDevs = {0.0});
   /**
    * Creates a simulated arm mechanism.
@@ -50,12 +52,14 @@ class SingleJointedArmSim : public LinearSystemSim<2, 1, 1> {
    * @param minAngle           The minimum angle that the arm is capable of.
    * @param maxAngle           The maximum angle that the arm is capable of.
    * @param simulateGravity    Whether gravity should be simulated or not.
+   * @param startingAngle      The initial position of the arm.
    * @param measurementStdDevs The standard deviation of the measurement noise.
    */
   SingleJointedArmSim(const DCMotor& gearbox, double gearing,
                       units::kilogram_square_meter_t moi,
                       units::meter_t armLength, units::radian_t minAngle,
                       units::radian_t maxAngle, bool simulateGravity,
+                      units::radian_t startingAngle,
                       const std::array<double, 1>& measurementStdDevs = {0.0});
 
   /**
diff --git a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
index 8afcf6f654..4e7e652458 100644
--- a/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/ElevatorSimTest.cpp
@@ -21,7 +21,7 @@
 
 TEST(ElevatorSimTest, StateSpaceSim) {
   frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
-                            0_m, 3_m, true, {0.01});
+                            0_m, 3_m, true, 0_m, {0.01});
   frc2::PIDController controller(10, 0.0, 0.0);
 
   frc::PWMVictorSPX motor(0);
@@ -46,7 +46,7 @@ TEST(ElevatorSimTest, StateSpaceSim) {
 
 TEST(ElevatorSimTest, MinMax) {
   frc::sim::ElevatorSim sim(frc::DCMotor::Vex775Pro(4), 14.67, 8_kg, 0.75_in,
-                            0_m, 1_m, true, {0.01});
+                            0_m, 1_m, true, 0_m, {0.01});
   for (size_t i = 0; i < 100; ++i) {
     sim.SetInput(frc::Vectord<1>{0.0});
     sim.Update(20_ms);
@@ -66,7 +66,7 @@ TEST(ElevatorSimTest, MinMax) {
 
 TEST(ElevatorSimTest, Stability) {
   frc::sim::ElevatorSim sim{
-      frc::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false};
+      frc::DCMotor::Vex775Pro(4), 100, 4_kg, 0.5_in, 0_m, 10_m, false, 0_m};
 
   sim.SetState(frc::Vectord<2>{0.0, 0.0});
   sim.SetInput(frc::Vectord<1>{12.0});
diff --git a/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
index 44264308da..07a1e1c409 100644
--- a/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
+++ b/wpilibc/src/test/native/cpp/simulation/SingleJointedArmSimTest.cpp
@@ -9,7 +9,7 @@
 
 TEST(SingleJointedArmTest, Disabled) {
   frc::sim::SingleJointedArmSim sim(frc::DCMotor::Vex775Pro(2), 300, 3_kg_sq_m,
-                                    30_in, -180_deg, 0_deg, true);
+                                    30_in, -180_deg, 0_deg, true, 90_deg);
   sim.SetState(frc::Vectord<2>{0.0, 0.0});
 
   for (size_t i = 0; i < 12 / 0.02; ++i) {
diff --git a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.h b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.h
index 811c645b26..929cbd458b 100644
--- a/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.h
+++ b/wpilibcExamples/src/main/cpp/examples/ArmSimulation/include/subsystems/Arm.h
@@ -53,6 +53,7 @@ class Arm {
       kMinAngle,
       kMaxAngle,
       true,
+      0_deg,
       {kArmEncoderDistPerPulse}};
   frc::sim::EncoderSim m_encoderSim{m_encoder};
 
diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
index 0f1313a951..4b07189442 100644
--- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
+++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
@@ -56,6 +56,7 @@ class Elevator {
                                       Constants::kMinElevatorHeight,
                                       Constants::kMaxElevatorHeight,
                                       true,
+                                      0_m,
                                       {0.01}};
   frc::sim::EncoderSim m_encoderSim{m_encoder};
 
diff --git a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
index 92b1affe7d..8173aab917 100644
--- a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
+++ b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
@@ -38,7 +38,8 @@ class PotentiometerPIDTest : public testing::Test {
                                       kElevatorDrumRadius,
                                       0.0_m,
                                       Robot::kFullHeight,
-                                      true};
+                                      true,
+                                      0.0_m};
   frc::sim::PWMSim m_motorSim{Robot::kMotorChannel};
   frc::sim::AnalogInputSim m_analogSim{Robot::kPotChannel};
   frc::sim::JoystickSim m_joystickSim{Robot::kJoystickChannel};
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
index 21486092e3..f1ccdf2c01 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ElevatorSim.java
@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.simulation;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.VecBuilder;
 import edu.wpi.first.math.numbers.N1;
@@ -43,6 +44,8 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
    * @param minHeightMeters The min allowable height of the elevator.
    * @param maxHeightMeters The max allowable height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
+   * @param startingHeightMeters The starting height of the elevator.
+   * @param measurementStdDevs The standard deviations of the measurements.
    */
   public ElevatorSim(
       LinearSystem<N2, N1, N1> plant,
@@ -51,16 +54,19 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
       double drumRadiusMeters,
       double minHeightMeters,
       double maxHeightMeters,
-      boolean simulateGravity) {
-    this(
-        plant,
-        gearbox,
-        gearing,
-        drumRadiusMeters,
-        minHeightMeters,
-        maxHeightMeters,
-        simulateGravity,
-        null);
+      boolean simulateGravity,
+      double startingHeightMeters,
+      Matrix<N1, N1> measurementStdDevs) {
+    super(plant, measurementStdDevs);
+    m_gearbox = gearbox;
+    m_gearing = gearing;
+    m_drumRadius = drumRadiusMeters;
+    m_minHeight = minHeightMeters;
+    m_maxHeight = maxHeightMeters;
+    m_simulateGravity = simulateGravity;
+
+    setState(
+        VecBuilder.fill(MathUtil.clamp(startingHeightMeters, minHeightMeters, maxHeightMeters), 0));
   }
 
   /**
@@ -72,8 +78,8 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
    * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
    * @param minHeightMeters The min allowable height of the elevator.
    * @param maxHeightMeters The max allowable height of the elevator.
+   * @param startingHeightMeters The starting height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
-   * @param measurementStdDevs The standard deviations of the measurements.
    */
   public ElevatorSim(
       LinearSystem<N2, N1, N1> plant,
@@ -83,43 +89,16 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
       double minHeightMeters,
       double maxHeightMeters,
       boolean simulateGravity,
-      Matrix<N1, N1> measurementStdDevs) {
-    super(plant, measurementStdDevs);
-    m_gearbox = gearbox;
-    m_gearing = gearing;
-    m_drumRadius = drumRadiusMeters;
-    m_minHeight = minHeightMeters;
-    m_maxHeight = maxHeightMeters;
-    m_simulateGravity = simulateGravity;
-  }
-
-  /**
-   * Creates a simulated elevator mechanism.
-   *
-   * @param gearbox The type of and number of motors in the elevator gearbox.
-   * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
-   * @param carriageMassKg The mass of the elevator carriage.
-   * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
-   * @param minHeightMeters The min allowable height of the elevator.
-   * @param maxHeightMeters The max allowable height of the elevator.
-   * @param simulateGravity Whether gravity should be simulated or not.
-   */
-  public ElevatorSim(
-      DCMotor gearbox,
-      double gearing,
-      double carriageMassKg,
-      double drumRadiusMeters,
-      double minHeightMeters,
-      double maxHeightMeters,
-      boolean simulateGravity) {
+      double startingHeightMeters) {
     this(
+        plant,
         gearbox,
         gearing,
-        carriageMassKg,
         drumRadiusMeters,
         minHeightMeters,
         maxHeightMeters,
         simulateGravity,
+        startingHeightMeters,
         null);
   }
 
@@ -133,6 +112,7 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
    * @param minHeightMeters The min allowable height of the elevator.
    * @param maxHeightMeters The max allowable height of the elevator.
    * @param simulateGravity Whether gravity should be simulated or not.
+   * @param startingHeightMeters The starting height of the elevator.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
   public ElevatorSim(
@@ -143,16 +123,51 @@ public class ElevatorSim extends LinearSystemSim<N2, N1, N1> {
       double minHeightMeters,
       double maxHeightMeters,
       boolean simulateGravity,
+      double startingHeightMeters,
       Matrix<N1, N1> measurementStdDevs) {
-    super(
+    this(
         LinearSystemId.createElevatorSystem(gearbox, carriageMassKg, drumRadiusMeters, gearing),
+        gearbox,
+        gearing,
+        drumRadiusMeters,
+        minHeightMeters,
+        maxHeightMeters,
+        simulateGravity,
+        startingHeightMeters,
         measurementStdDevs);
-    m_gearbox = gearbox;
-    m_gearing = gearing;
-    m_drumRadius = drumRadiusMeters;
-    m_minHeight = minHeightMeters;
-    m_maxHeight = maxHeightMeters;
-    m_simulateGravity = simulateGravity;
+  }
+
+  /**
+   * Creates a simulated elevator mechanism.
+   *
+   * @param gearbox The type of and number of motors in the elevator gearbox.
+   * @param gearing The gearing of the elevator (numbers greater than 1 represent reductions).
+   * @param carriageMassKg The mass of the elevator carriage.
+   * @param drumRadiusMeters The radius of the drum that the elevator spool is wrapped around.
+   * @param minHeightMeters The min allowable height of the elevator.
+   * @param maxHeightMeters The max allowable height of the elevator.
+   * @param simulateGravity Whether gravity should be simulated or not.
+   * @param startingHeightMeters The starting height of the elevator.
+   */
+  public ElevatorSim(
+      DCMotor gearbox,
+      double gearing,
+      double carriageMassKg,
+      double drumRadiusMeters,
+      double minHeightMeters,
+      double maxHeightMeters,
+      boolean simulateGravity,
+      double startingHeightMeters) {
+    this(
+        gearbox,
+        gearing,
+        carriageMassKg,
+        drumRadiusMeters,
+        minHeightMeters,
+        maxHeightMeters,
+        simulateGravity,
+        startingHeightMeters,
+        null);
   }
 
   /**
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
index 26a41bd479..72d1be4e62 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSim.java
@@ -43,6 +43,8 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * @param minAngleRads The minimum angle that the arm is capable of.
    * @param maxAngleRads The maximum angle that the arm is capable of.
    * @param simulateGravity Whether gravity should be simulated or not.
+   * @param startingAngleRads The initial position of the Arm simulation in radians.
+   * @param measurementStdDevs The standard deviations of the measurements.
    */
   public SingleJointedArmSim(
       LinearSystem<N2, N1, N1> plant,
@@ -51,16 +53,18 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
       double armLengthMeters,
       double minAngleRads,
       double maxAngleRads,
-      boolean simulateGravity) {
-    this(
-        plant,
-        gearbox,
-        gearing,
-        armLengthMeters,
-        minAngleRads,
-        maxAngleRads,
-        simulateGravity,
-        null);
+      boolean simulateGravity,
+      double startingAngleRads,
+      Matrix<N1, N1> measurementStdDevs) {
+    super(plant, measurementStdDevs);
+    m_gearbox = gearbox;
+    m_gearing = gearing;
+    m_armLenMeters = armLengthMeters;
+    m_minAngle = minAngleRads;
+    m_maxAngle = maxAngleRads;
+    m_simulateGravity = simulateGravity;
+
+    setState(VecBuilder.fill(startingAngleRads, 0));
   }
 
   /**
@@ -73,7 +77,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * @param minAngleRads The minimum angle that the arm is capable of.
    * @param maxAngleRads The maximum angle that the arm is capable of.
    * @param simulateGravity Whether gravity should be simulated or not.
-   * @param measurementStdDevs The standard deviations of the measurements.
+   * @param startingAngleRads The initial position of the Arm simulation in radians.
    */
   public SingleJointedArmSim(
       LinearSystem<N2, N1, N1> plant,
@@ -83,14 +87,17 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
       double minAngleRads,
       double maxAngleRads,
       boolean simulateGravity,
-      Matrix<N1, N1> measurementStdDevs) {
-    super(plant, measurementStdDevs);
-    m_gearbox = gearbox;
-    m_gearing = gearing;
-    m_armLenMeters = armLengthMeters;
-    m_minAngle = minAngleRads;
-    m_maxAngle = maxAngleRads;
-    m_simulateGravity = simulateGravity;
+      double startingAngleRads) {
+    this(
+        plant,
+        gearbox,
+        gearing,
+        armLengthMeters,
+        minAngleRads,
+        maxAngleRads,
+        simulateGravity,
+        startingAngleRads,
+        null);
   }
 
   /**
@@ -103,6 +110,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * @param minAngleRads The minimum angle that the arm is capable of.
    * @param maxAngleRads The maximum angle that the arm is capable of.
    * @param simulateGravity Whether gravity should be simulated or not.
+   * @param startingAngleRads The initial position of the Arm simulation in radians.
    */
   public SingleJointedArmSim(
       DCMotor gearbox,
@@ -111,7 +119,8 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
       double armLengthMeters,
       double minAngleRads,
       double maxAngleRads,
-      boolean simulateGravity) {
+      boolean simulateGravity,
+      double startingAngleRads) {
     this(
         gearbox,
         gearing,
@@ -120,6 +129,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
         minAngleRads,
         maxAngleRads,
         simulateGravity,
+        startingAngleRads,
         null);
   }
 
@@ -133,6 +143,7 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
    * @param minAngleRads The minimum angle that the arm is capable of.
    * @param maxAngleRads The maximum angle that the arm is capable of.
    * @param simulateGravity Whether gravity should be simulated or not.
+   * @param startingAngleRads The initial position of the Arm simulation in radians.
    * @param measurementStdDevs The standard deviations of the measurements.
    */
   public SingleJointedArmSim(
@@ -143,16 +154,18 @@ public class SingleJointedArmSim extends LinearSystemSim<N2, N1, N1> {
       double minAngleRads,
       double maxAngleRads,
       boolean simulateGravity,
+      double startingAngleRads,
       Matrix<N1, N1> measurementStdDevs) {
-    super(
+    this(
         LinearSystemId.createSingleJointedArmSystem(gearbox, jKgMetersSquared, gearing),
+        gearbox,
+        gearing,
+        armLengthMeters,
+        minAngleRads,
+        maxAngleRads,
+        simulateGravity,
+        startingAngleRads,
         measurementStdDevs);
-    m_gearbox = gearbox;
-    m_gearing = gearing;
-    m_armLenMeters = armLengthMeters;
-    m_minAngle = minAngleRads;
-    m_maxAngle = maxAngleRads;
-    m_simulateGravity = simulateGravity;
   }
 
   /**
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
index b31769b5fd..336489a334 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
@@ -33,6 +33,7 @@ class ElevatorSimTest {
             0.0,
             3.0,
             true,
+            0.0,
             VecBuilder.fill(0.01));
 
     try (var motor = new PWMVictorSPX(0);
@@ -71,6 +72,7 @@ class ElevatorSimTest {
             0.0,
             1.0,
             true,
+            0.0,
             VecBuilder.fill(0.01));
 
     for (int i = 0; i < 100; i++) {
@@ -91,7 +93,8 @@ class ElevatorSimTest {
   @Test
   void testStability() {
     var sim =
-        new ElevatorSim(DCMotor.getVex775Pro(4), 100, 4, Units.inchesToMeters(0.5), 0, 10, false);
+        new ElevatorSim(
+            DCMotor.getVex775Pro(4), 100, 4, Units.inchesToMeters(0.5), 0, 10, false, 0.0);
 
     sim.setState(VecBuilder.fill(0, 0));
     sim.setInput(12);
diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
index f14bcd177f..928fd3edc8 100644
--- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
+++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SingleJointedArmSimTest.java
@@ -14,10 +14,18 @@ import org.junit.jupiter.api.Test;
 class SingleJointedArmSimTest {
   SingleJointedArmSim m_sim =
       new SingleJointedArmSim(
-          DCMotor.getVex775Pro(2), 300, 3.0, Units.inchesToMeters(30.0), -Math.PI, 0.0, true);
+          DCMotor.getVex775Pro(2),
+          300,
+          3.0,
+          Units.inchesToMeters(30.0),
+          -Math.PI,
+          0.0,
+          true,
+          Math.PI / 2.0);
 
   @Test
   void testArmDisabled() {
+    // Reset Arm angle to 0
     m_sim.setState(VecBuilder.fill(0.0, 0.0));
 
     for (int i = 0; i < 12 / 0.02; i++) {
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
index de464e8310..3cce47d58c 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armsimulation/subsystems/Arm.java
@@ -50,6 +50,7 @@ public class Arm implements AutoCloseable {
           Constants.kMinAngleRads,
           Constants.kMaxAngleRads,
           true,
+          0,
           VecBuilder.fill(Constants.kArmEncoderDistPerPulse) // Add noise with a std-dev of 1 tick
           );
   private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
index 7ac9fd2b09..1c9d876764 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
@@ -54,6 +54,7 @@ public class Elevator implements AutoCloseable {
           Constants.kMinElevatorHeightMeters,
           Constants.kMaxElevatorHeightMeters,
           true,
+          0,
           VecBuilder.fill(0.01));
   private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
   private final PWMSim m_motorSim = new PWMSim(m_motor);
diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
index c2b5311141..0da5e3d930 100644
--- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
+++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java
@@ -55,6 +55,7 @@ class PotentiometerPIDTest {
             0.0,
             Robot.kFullHeightMeters,
             true,
+            0,
             null);
     m_analogSim = new AnalogInputSim(Robot.kPotChannel);
     m_motorSim = new PWMSim(Robot.kMotorChannel);