diff --git a/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp b/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
index 5fe63d0606..2ea8237234 100644
--- a/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
@@ -9,6 +9,8 @@
 #include <wpi/Endian.h>
 #include <wpi/MathExtras.h>
 
+#include "frc/trajectory/Trajectory.h"
+
 using namespace frc;
 
 FieldObject2d::FieldObject2d(FieldObject2d&& rhs) {
@@ -53,6 +55,16 @@ void FieldObject2d::SetPoses(std::initializer_list<Pose2d> poses) {
   SetPoses(wpi::makeArrayRef(poses.begin(), poses.end()));
 }
 
+void FieldObject2d::SetTrajectory(const Trajectory& trajectory) {
+  std::scoped_lock lock(m_mutex);
+  m_poses.clear();
+  m_poses.reserve(trajectory.States().size());
+  for (auto&& state : trajectory.States()) {
+    m_poses.push_back(state.pose);
+  }
+  UpdateEntry();
+}
+
 std::vector<Pose2d> FieldObject2d::GetPoses() const {
   std::scoped_lock lock(m_mutex);
   UpdateFromEntry();
diff --git a/wpilibc/src/main/native/include/frc/smartdashboard/FieldObject2d.h b/wpilibc/src/main/native/include/frc/smartdashboard/FieldObject2d.h
index 0319cbabd3..eb3625181c 100644
--- a/wpilibc/src/main/native/include/frc/smartdashboard/FieldObject2d.h
+++ b/wpilibc/src/main/native/include/frc/smartdashboard/FieldObject2d.h
@@ -21,6 +21,7 @@
 namespace frc {
 
 class Field2d;
+class Trajectory;
 
 /**
  * Game field object on a Field2d.
@@ -76,6 +77,13 @@ class FieldObject2d {
    */
   void SetPoses(std::initializer_list<Pose2d> poses);
 
+  /**
+   * Sets poses from a trajectory.
+   *
+   * @param trajectory The trajectory from which poses should be added.
+   */
+  void SetTrajectory(const Trajectory& trajectory);
+
   /**
    * Get multiple poses.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
index a5785df58f..aee7e13dac 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
@@ -8,6 +8,7 @@ import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.wpilibj.trajectory.Trajectory;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.ArrayList;
@@ -84,6 +85,19 @@ public class FieldObject2d {
     updateEntry();
   }
 
+  /**
+   * Sets poses from a trajectory.
+   *
+   * @param trajectory The trajectory from which the poses should be added.
+   */
+  public synchronized void setTrajectory(Trajectory trajectory) {
+    m_poses.clear();
+    for (Trajectory.State state : trajectory.getStates()) {
+      m_poses.add(state.poseMeters);
+    }
+    updateEntry();
+  }
+
   /**
    * Get multiple poses.
    *