diff --git a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
index 98a02126f9..9e10e16fe8 100644
--- a/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DCMotorSim.cpp
@@ -42,6 +42,15 @@ void DCMotorSim::SetState(units::radian_t angularPosition,
   SetState(Vectord<2>{angularPosition, angularVelocity});
 }
 
+void DCMotorSim::SetAngle(units::radian_t angularPosition) {
+  SetState(angularPosition, GetAngularVelocity());
+}
+
+void DCMotorSim::SetAngularVelocity(
+    units::radians_per_second_t angularVelocity) {
+  SetState(GetAngularPosition(), angularVelocity);
+}
+
 units::radian_t DCMotorSim::GetAngularPosition() const {
   return units::radian_t{GetOutput(0)};
 }
diff --git a/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h b/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
index c5c761845a..8f14d680bc 100644
--- a/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
+++ b/wpilibc/src/main/native/include/frc/simulation/DCMotorSim.h
@@ -45,6 +45,20 @@ class DCMotorSim : public LinearSystemSim<2, 1, 2> {
   void SetState(units::radian_t angularPosition,
                 units::radians_per_second_t angularVelocity);
 
+  /**
+   * Sets the DC motor's angular position.
+   *
+   * @param angularPosition The new position in radians.
+   */
+  void SetAngle(units::radian_t angularPosition);
+
+  /**
+   * Sets the DC motor's angular velocity.
+   *
+   * @param angularVelocity The new velocity in radians per second.
+   */
+  void SetAngularVelocity(units::radians_per_second_t angularVelocity);
+
   /**
    * Returns the DC motor position.
    *