diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
index 6e2b1350ba..caed869652 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimator.java
@@ -244,6 +244,8 @@ public class SwerveDrivePoseEstimator<States extends Num, Inputs extends Num, Ou
   /**
    * Resets the robot's position on the field.
    *
+   * <p>You NEED to reset your encoders (to zero) when calling this method.
+   *
    * <p>The gyroscope angle does not need to be reset in the user's robot code. The library
    * automatically takes care of offsetting the gyro angle.
    *
diff --git a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
index 327ca0a779..2a0cbfa4bb 100644
--- a/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
+++ b/wpimath/src/main/native/include/frc/estimator/SwerveDrivePoseEstimator.h
@@ -138,6 +138,8 @@ class SwerveDrivePoseEstimator {
   /**
    * Resets the robot's position on the field.
    *
+   * You NEED to reset your encoders (to zero) when calling this method.
+   *
    * The gyroscope angle does not need to be reset in the user's robot code.
    * The library automatically takes care of offsetting the gyro angle.
    *