diff --git a/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h b/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
index 96c2c6e7d1..fa237368d9 100644
--- a/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/Trajectory.h
@@ -105,6 +105,13 @@ class Trajectory {
    */
   State Sample(units::second_t t) const;
 
+  /**
+   * Returns the initial pose of the trajectory.
+   *
+   * @return The initial pose of the trajectory.
+   */
+  Pose2d InitialPose() const { return Sample(0_s).pose; }
+
  private:
   std::vector<State> m_states;
   units::second_t m_totalTime;
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java
index 4f49244015..1e810cb14f 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/Trajectory.java
@@ -60,6 +60,15 @@ public class Trajectory {
     return startValue.plus((endValue.minus(startValue)).times(t));
   }
 
+  /**
+   * Returns the initial pose of the trajectory.
+   *
+   * @return The initial pose of the trajectory.
+   */
+  public Pose2d getInitialPose() {
+    return sample(0).poseMeters;
+  }
+
   /**
    * Returns the overall duration of the trajectory.
    *