diff --git a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
index fff76f22fc..73a0a0892a 100644
--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -89,6 +89,17 @@ units::ampere_t DifferentialDrivetrainSim::GetCurrentDraw() const {
   return loadIleft + loadIRight;
 }
 
+void DifferentialDrivetrainSim::SetState(
+    const Eigen::Matrix<double, 7, 1>& state) {
+  m_x = state;
+}
+
+void DifferentialDrivetrainSim::SetPose(const frc::Pose2d& pose) {
+  m_x(State::kX) = pose.X().to<double>();
+  m_x(State::kY) = pose.Y().to<double>();
+  m_x(State::kHeading) = pose.Rotation().Radians().to<double>();
+}
+
 Eigen::Matrix<double, 7, 1> DifferentialDrivetrainSim::Dynamics(
     const Eigen::Matrix<double, 7, 1>& x,
     const Eigen::Matrix<double, 2, 1>& u) {
diff --git a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
index c6d19c6c15..a75edb91e9 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
@@ -122,6 +122,20 @@ class DifferentialDrivetrainSim {
    */
   units::ampere_t GetCurrentDraw() const;
 
+  /**
+   * Sets the system state.
+   *
+   * @param state The state.
+   */
+  void SetState(const Eigen::Matrix<double, 7, 1>& state);
+
+  /**
+   * Sets the system pose.
+   *
+   * @param pose The pose.
+   */
+  void SetPose(const frc::Pose2d& pose);
+
   Eigen::Matrix<double, 7, 1> Dynamics(const Eigen::Matrix<double, 7, 1>& x,
                                        const Eigen::Matrix<double, 2, 1>& u);
 
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
index bf09e67ac5..79e67bc072 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
@@ -174,6 +174,26 @@ public class DifferentialDrivetrainSim {
     this.m_currentGearing = newGearRatio;
   }
 
+  /**
+   * Sets the system state.
+   *
+   * @param state The state.
+   */
+  public void setState(Matrix<N7, N1> state) {
+    m_x = state;
+  }
+
+  /**
+   * Sets the system pose.
+   *
+   * @param pose The pose.
+   */
+  public void setPose(Pose2d pose) {
+    m_x.set(State.kX.value, 0, pose.getX());
+    m_x.set(State.kY.value, 0, pose.getY());
+    m_x.set(State.kHeading.value, 0, pose.getRotation().getRadians());
+  }
+
   @SuppressWarnings({"DuplicatedCode", "LocalVariableName"})
   protected Matrix<N7, N1> getDynamics(Matrix<N7, N1> x, Matrix<N2, N1> u) {