diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
index 49bff658ce..9fe462ad2e 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ProxyCommand.cpp
@@ -11,13 +11,20 @@ using namespace frc2;
 ProxyCommand::ProxyCommand(wpi::unique_function<Command*()> supplier)
     : m_supplier(std::move(supplier)) {}
 
+ProxyCommand::ProxyCommand(wpi::unique_function<CommandPtr()> supplier)
+    : ProxyCommand([supplier = std::move(supplier),
+                    holder = std::optional<CommandPtr>{}]() mutable {
+        holder = supplier();
+        return holder->get();
+      }) {}
+
 ProxyCommand::ProxyCommand(Command* command)
-    : m_supplier([command] { return command; }) {
+    : ProxyCommand([command] { return command; }) {
   SetName(std::string{"Proxy("}.append(command->GetName()).append(")"));
 }
 
 ProxyCommand::ProxyCommand(std::unique_ptr<Command> command)
-    : m_supplier([command = std::move(command)] { return command.get(); }) {}
+    : ProxyCommand([command = std::move(command)] { return command.get(); }) {}
 
 void ProxyCommand::Initialize() {
   m_command = m_supplier();
@@ -31,8 +38,6 @@ void ProxyCommand::End(bool interrupted) {
   m_command = nullptr;
 }
 
-void ProxyCommand::Execute() {}
-
 bool ProxyCommand::IsFinished() {
   // because we're between `initialize` and `end`, `m_command` is necessarily
   // not null but if called otherwise and m_command is null, it's UB, so we can
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h
index a3e0ab323e..d39ef054b0 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/ProxyCommand.h
@@ -31,6 +31,15 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
    */
   explicit ProxyCommand(wpi::unique_function<Command*()> supplier);
 
+  /**
+   * Creates a new ProxyCommand that schedules the supplied command when
+   * initialized, and ends when it is no longer scheduled. Useful for lazily
+   * creating commands at runtime.
+   *
+   * @param supplier the command supplier
+   */
+  explicit ProxyCommand(wpi::unique_function<CommandPtr()> supplier);
+
   /**
    * Creates a new ProxyCommand that schedules the given command when
    * initialized, and ends when it is no longer scheduled.
@@ -56,8 +65,6 @@ class ProxyCommand : public CommandHelper<Command, ProxyCommand> {
 
   void End(bool interrupted) override;
 
-  void Execute() override;
-
   bool IsFinished() override;
 
   void InitSendable(wpi::SendableBuilder& builder) override;