diff --git a/wpilibc/src/main/native/cpp/Timer.cpp b/wpilibc/src/main/native/cpp/Timer.cpp
index 3863de4a0c..bf60021918 100644
--- a/wpilibc/src/main/native/cpp/Timer.cpp
+++ b/wpilibc/src/main/native/cpp/Timer.cpp
@@ -54,6 +54,14 @@ void Timer::Start() {
   }
 }
 
+void Timer::Restart() {
+  if (m_running) {
+    Stop();
+  }
+  Reset();
+  Start();
+}
+
 void Timer::Stop() {
   if (m_running) {
     m_accumulatedTime = Get();
diff --git a/wpilibc/src/main/native/include/frc/Timer.h b/wpilibc/src/main/native/include/frc/Timer.h
index 14674ee740..e1639826c7 100644
--- a/wpilibc/src/main/native/include/frc/Timer.h
+++ b/wpilibc/src/main/native/include/frc/Timer.h
@@ -76,6 +76,14 @@ class Timer {
    */
   void Start();
 
+  /**
+   * Restart the timer by stopping the timer, if it is not already stopped,
+   * resetting the accumulated time, then starting the timer again. If you
+   * want an event to periodically reoccur at some time interval from the
+   * start time, consider using AdvanceIfElapsed() instead.
+   */
+  void Restart();
+
   /**
    * Stop the timer.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
index 6f9a3614f8..4f948f5ae1 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
@@ -100,6 +100,19 @@ public class Timer {
     }
   }
 
+  /**
+   * Restart the timer by stopping the timer, if it is not already stopped, resetting the
+   * accumulated time, then starting the timer again. If you want an event to periodically reoccur
+   * at some time interval from the start time, consider using advanceIfElapsed() instead.
+   */
+  public void restart() {
+    if (m_running) {
+      stop();
+    }
+    reset();
+    start();
+  }
+
   /**
    * Stop the timer. This computes the time as of now and clears the running flag, causing all
    * subsequent time requests to be read from the accumulated time rather than looking at the system