diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
index 9f040523d1..7e634cf5c9 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -530,6 +530,11 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     m_disabled = false;
   }
 
+  /** Prints list of epochs added so far and their times. */
+  public void printWatchdogEpochs() {
+    m_watchdog.printEpochs();
+  }
+
   /**
    * Adds an action to perform on the initialization of any command by the scheduler.
    *
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index efeee4e644..f845cbc053 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -428,6 +428,10 @@ void CommandScheduler::Enable() {
   m_impl->disabled = false;
 }
 
+void CommandScheduler::PrintWatchdogEpochs() {
+  m_watchdog.PrintEpochs();
+}
+
 void CommandScheduler::OnCommandInitialize(Action action) {
   m_impl->initActions.emplace_back(std::move(action));
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
index 1f8d74297a..fde2c6d3e3 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandScheduler.h
@@ -333,6 +333,11 @@ class CommandScheduler final : public wpi::Sendable,
    */
   void Enable();
 
+  /**
+   * Prints list of epochs added so far and their times.
+   */
+  void PrintWatchdogEpochs();
+
   /**
    * Adds an action to perform on the initialization of any command by the
    * scheduler.