diff --git a/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
new file mode 100644
index 0000000000..25593ec933
--- /dev/null
+++ b/wpilibcExamples/src/main/cpp/snippets/DutyCycleEncoder/cpp/Robot.cpp
@@ -0,0 +1,40 @@
+// 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 <numbers>
+
+#include <frc/DutyCycleEncoder.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * DutyCycleEncoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  Robot() {}
+
+  void TeleopPeriodic() override {
+    // Gets the rotation
+    m_encoder.Get();
+
+    // Gets if the encoder is connected
+    m_encoder.IsConnected();
+  }
+
+ private:
+  // Initializes a duty cycle encoder on DIO pins 0
+  frc::DutyCycleEncoder m_encoder{0};
+
+  // Initializes a duty cycle encoder on DIO pins 0 to return a value of 4 for
+  // a full rotation, with the encoder reporting 0 half way through rotation (2
+  // out of 4)
+  frc::DutyCycleEncoder m_encoderFR{0, 4.0, 2.0};
+};
+
+#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 884e075dfd..5edd312bb9 100644
--- a/wpilibcExamples/src/main/cpp/snippets/snippets.json
+++ b/wpilibcExamples/src/main/cpp/snippets/snippets.json
@@ -8,5 +8,16 @@
     ],
     "foldername": "Encoder",
     "gradlebase": "cpp"
+  },
+  {
+    "name": "DutyCycleEncoder",
+    "description": "Snippets of DutyCycleEncoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Duty Cycle"
+    ],
+    "foldername": "DutyCycleEncoder",
+    "gradlebase": "cpp"
   }
 ]
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Main.java
new file mode 100644
index 0000000000..add47abd4d
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/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.dutycycleencoder;
+
+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/dutycycleencoder/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
new file mode 100644
index 0000000000..ed7e3fe89b
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/snippets/dutycycleencoder/Robot.java
@@ -0,0 +1,36 @@
+// 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.dutycycleencoder;
+
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import edu.wpi.first.wpilibj.TimedRobot;
+
+/**
+ * DutyCycleEncoder snippets for frc-docs.
+ * https://docs.wpilib.org/en/stable/docs/software/hardware-apis/sensors/encoders-software.html
+ */
+public class Robot extends TimedRobot {
+  // Initializes a duty cycle encoder on DIO pins 0
+  DutyCycleEncoder m_encoder = new DutyCycleEncoder(0);
+
+  // Initializes a duty cycle encoder on DIO pins 0 to return a value of 4 for
+  // a full rotation, with the encoder reporting 0 half way through rotation (2
+  // out of 4)
+  DutyCycleEncoder m_encoderFR = new DutyCycleEncoder(0, 4.0, 2.0);
+
+  /** Called once at the beginning of the robot program. */
+  public Robot() {}
+
+  @Override
+  public void teleopPeriodic() {
+    // Gets the rotation
+    m_encoder.get();
+
+    // Gets if the encoder is connected
+    m_encoder.isConnected();
+
+    m_encoderFR.get();
+  }
+}
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 8e8786f713..abc1bd45e1 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
@@ -9,5 +9,17 @@
     "foldername": "encoder",
     "gradlebase": "java",
     "mainclass": "Main"
+  },
+  {
+    "name": "DutyCycleEncoder",
+    "description": "Snippets of DutyCycleEncoder class usage for frc-docs.",
+    "tags": [
+      "Hardware",
+      "Encoder",
+      "Duty Cycle"
+    ],
+    "foldername": "dutycycleencoder",
+    "gradlebase": "java",
+    "mainclass": "Main"
   }
 ]