diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
index 9467c62883..92ecf694a9 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
@@ -9,6 +9,8 @@ package edu.wpi.first.wpilibj2.command;
 
 import java.util.ArrayList;
 
+import org.junit.jupiter.api.AfterAll;
+import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
 
 import edu.wpi.first.wpilibj.Timer;
@@ -20,6 +22,7 @@ import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.MecanumDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
@@ -28,6 +31,16 @@ import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
 class MecanumControllerCommandTest {
+  @BeforeAll
+  static void setupAll() {
+    SimHooks.pauseTiming();
+  }
+
+  @AfterAll
+  static void cleanupAll() {
+    SimHooks.resumeTiming();
+  }
+
   private final Timer m_timer = new Timer();
   private Rotation2d m_angle = new Rotation2d(0);
 
@@ -102,6 +115,7 @@ class MecanumControllerCommandTest {
     while (!command.isFinished()) {
       command.execute();
       m_angle = trajectory.sample(m_timer.get()).poseMeters.getRotation();
+      SimHooks.stepTiming(0.005);
     }
     m_timer.stop();
     command.end(true);
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
index fcddd5eba2..56488ca0f5 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
@@ -9,6 +9,8 @@ package edu.wpi.first.wpilibj2.command;
 
 import java.util.ArrayList;
 
+import org.junit.jupiter.api.AfterAll;
+import org.junit.jupiter.api.BeforeAll;
 import org.junit.jupiter.api.Test;
 
 import edu.wpi.first.wpilibj.Timer;
@@ -20,6 +22,7 @@ import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.kinematics.SwerveDriveKinematics;
 import edu.wpi.first.wpilibj.kinematics.SwerveDriveOdometry;
 import edu.wpi.first.wpilibj.kinematics.SwerveModuleState;
+import edu.wpi.first.wpilibj.simulation.SimHooks;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
 import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
 import edu.wpi.first.wpilibj.trajectory.TrapezoidProfile;
@@ -28,6 +31,16 @@ import static org.junit.jupiter.api.Assertions.assertAll;
 import static org.junit.jupiter.api.Assertions.assertEquals;
 
 class SwerveControllerCommandTest {
+  @BeforeAll
+  static void setupAll() {
+    SimHooks.pauseTiming();
+  }
+
+  @AfterAll
+  static void cleanupAll() {
+    SimHooks.resumeTiming();
+  }
+
   private final Timer m_timer = new Timer();
   private Rotation2d m_angle = new Rotation2d(0);
 
@@ -95,6 +108,7 @@ class SwerveControllerCommandTest {
     while (!command.isFinished()) {
       command.execute();
       m_angle = trajectory.sample(m_timer.get()).poseMeters.getRotation();
+      SimHooks.stepTiming(0.005);
     }
     m_timer.stop();
     command.end(true);
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
index abfc84bee8..07bc07a1d9 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
@@ -9,14 +9,13 @@
 #include <frc2/command/MecanumControllerCommand.h>
 #include <frc2/command/Subsystem.h>
 
-#include <iostream>
-
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/geometry/Rotation2d.h>
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/MecanumDriveKinematics.h>
 #include <frc/kinematics/MecanumDriveOdometry.h>
+#include <frc/simulation/SimHooks.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
 #include <wpi/math>
 
@@ -60,6 +59,10 @@ class MecanumControllerCommandTest : public ::testing::Test {
   frc::MecanumDriveOdometry m_odometry{m_kinematics, 0_rad,
                                        frc::Pose2d{0_m, 0_m, 0_rad}};
 
+  void SetUp() override { frc::sim::PauseTiming(); }
+
+  void TearDown() override { frc::sim::ResumeTiming(); }
+
   frc::MecanumDriveWheelSpeeds getCurrentWheelSpeeds() {
     return frc::MecanumDriveWheelSpeeds{m_frontLeftSpeed, m_frontRightSpeed,
                                         m_rearLeftSpeed, m_rearRightSpeed};
@@ -72,7 +75,7 @@ class MecanumControllerCommandTest : public ::testing::Test {
 };
 
 TEST_F(MecanumControllerCommandTest, ReachesReference) {
-  frc2::Subsystem subsystem{};
+  frc2::Subsystem subsystem;
 
   auto waypoints =
       std::vector{frc::Pose2d{0_m, 0_m, 0_rad}, frc::Pose2d{1_m, 5_m, 3_rad}};
@@ -99,10 +102,12 @@ TEST_F(MecanumControllerCommandTest, ReachesReference) {
 
   m_timer.Reset();
   m_timer.Start();
+
   command.Initialize();
   while (!command.IsFinished()) {
     command.Execute();
     m_angle = trajectory.Sample(m_timer.Get()).pose.Rotation();
+    frc::sim::StepTiming(5_ms);
   }
   m_timer.Stop();
   command.End(false);
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
index 83ba26f979..b2c47d04d9 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
@@ -9,8 +9,6 @@
 #include <frc2/command/Subsystem.h>
 #include <frc2/command/SwerveControllerCommand.h>
 
-#include <iostream>
-
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
 #include <frc/geometry/Rotation2d.h>
@@ -18,6 +16,7 @@
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/kinematics/SwerveDriveOdometry.h>
 #include <frc/kinematics/SwerveModuleState.h>
+#include <frc/simulation/SimHooks.h>
 #include <frc/trajectory/TrajectoryGenerator.h>
 #include <wpi/math>
 
@@ -60,6 +59,10 @@ class SwerveControllerCommandTest : public ::testing::Test {
   frc::SwerveDriveOdometry<4> m_odometry{m_kinematics, 0_rad,
                                          frc::Pose2d{0_m, 0_m, 0_rad}};
 
+  void SetUp() override { frc::sim::PauseTiming(); }
+
+  void TearDown() override { frc::sim::ResumeTiming(); }
+
   std::array<frc::SwerveModuleState, 4> getCurrentWheelSpeeds() {
     return m_moduleStates;
   }
@@ -71,7 +74,7 @@ class SwerveControllerCommandTest : public ::testing::Test {
 };
 
 TEST_F(SwerveControllerCommandTest, ReachesReference) {
-  frc2::Subsystem subsystem{};
+  frc2::Subsystem subsystem;
 
   auto waypoints =
       std::vector{frc::Pose2d{0_m, 0_m, 0_rad}, frc::Pose2d{1_m, 5_m, 3_rad}};
@@ -89,10 +92,12 @@ TEST_F(SwerveControllerCommandTest, ReachesReference) {
 
   m_timer.Reset();
   m_timer.Start();
+
   command.Initialize();
   while (!command.IsFinished()) {
     command.Execute();
     m_angle = trajectory.Sample(m_timer.Get()).pose.Rotation();
+    frc::sim::StepTiming(5_ms);
   }
   m_timer.Stop();
   command.End(false);