diff --git a/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
new file mode 100644
index 0000000000..df9973578e
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/snippets/AccelerometerFilter/cpp/Robot.cpp
@@ -0,0 +1,35 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <frc/BuiltInAccelerometer.h>
+#include <frc/TimedRobot.h>
+#include <frc/filter/LinearFilter.h>
+#include <frc/smartdashboard/SmartDashboard.h>
+
+/**
+ * Accelerometer filtering snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  void RobotPeriodic() override {
+    double XAccel = m_accelerometer.GetX();
+    // Get the filtered X acceleration
+    double filteredXAccel = m_xAccelFilter.Calculate(XAccel);
+
+    frc::SmartDashboard::PutNumber("X Acceleration", XAccel);
+    frc::SmartDashboard::PutNumber("Filtered X Acceleration", filteredXAccel);
+  }
+
+ private:
+  frc::BuiltInAccelerometer m_accelerometer;
+  frc::LinearFilter<double> m_xAccelFilter =
+      frc::LinearFilter<double>::MovingAverage(10);
+};
+
+#ifndef RUNNING_FRC_TESTS
+int main() {
+  return frc::StartRobot<Robot>();
+}
+#endif
diff --git a/wpilibcExamples/src/main/cpp/snippets/snippets.json b/wpilibcExamples/src/main/cpp/snippets/snippets.json
index 43d37a4867..db114169f0 100644
--- a/wpilibcExamples/src/main/cpp/snippets/snippets.json
+++ b/wpilibcExamples/src/main/cpp/snippets/snippets.json
@@ -144,5 +144,15 @@
     ],
     "foldername": "AccelerometerCollision",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "AccelerometerFilter",
+    "description": "Snippets of filterning Accelerometer for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer"
+    ],
+    "foldername": "AccelerometerFilter",
+    "gradlebase": "cpp"
   }
 ]
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometerfilter/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometerfilter/Main.java
new file mode 100644
index 0000000000..149c542bb2
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometerfilter/Main.java
@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.snippets.accelerometerfilter;
+
+import edu.wpi.first.wpilibj.RobotBase;
+
+/**
+ * Do NOT add any static variables to this class, or any initialization at all. Unless you know what
+ * you are doing, do not modify this file except to change the parameter class to the startRobot
+ * call.
+ */
+public final class Main {
+  private Main() {}
+
+  /**
+   * Main initialization function. Do not perform any initialization here.
+   *
+   * <p>If you change your main robot class, change the parameter type.
+   */
+  public static void main(String... args) {
+    RobotBase.startRobot(Robot::new);
+  }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometerfilter/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometerfilter/Robot.java
new file mode 100644
index 0000000000..1e09c6c89b
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/accelerometerfilter/Robot.java
@@ -0,0 +1,31 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.snippets.accelerometerfilter;
+
+import edu.wpi.first.math.filter.LinearFilter;
+import edu.wpi.first.wpilibj.BuiltInAccelerometer;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Accelerometer filtering snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/accelerometers-software.html
+ */
+public class Robot extends TimedRobot {
+  BuiltInAccelerometer m_accelerometer = new BuiltInAccelerometer();
+  // Create a LinearFilter that will calculate a moving average of the measured X acceleration over
+  // the past 10 iterations of the main loop
+  LinearFilter m_xAccelFilter = LinearFilter.movingAverage(10);
+
+  @Override
+  public void robotPeriodic() {
+    double xAccel = m_accelerometer.getX();
+    // Get the filtered X acceleration
+    double filteredXAccel = m_xAccelFilter.calculate(xAccel);
+
+    SmartDashboard.putNumber("X Acceleration", xAccel);
+    SmartDashboard.putNumber("Filtered X Acceleration", filteredXAccel);
+  }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
index 1edef3dc4a..f3f98a4752 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/snippets.json
@@ -158,5 +158,16 @@
     "foldername": "accelerometercollision",
     "gradlebase": "java",
     "mainclass": "Main"
+  },
+  {
+    "name": "AccelerometerFilter",
+    "description": "Snippets of filtering Accelerometer for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Accelerometer"
+    ],
+    "foldername": "accelerometerfilter",
+    "gradlebase": "java",
+    "mainclass": "Main"
   }
 ]