diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java
new file mode 100644
index 0000000000..438697e777
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Main.java
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.arcadedrive;
+
+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/examples/arcadedrive/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
new file mode 100644
index 0000000000..f0026187b3
--- /dev/null
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/arcadedrive/Robot.java
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj.examples.arcadedrive;
+
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PWMVictorSPX;
+import edu.wpi.first.wpilibj.TimedRobot;
+import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+
+/**
+ * This is a demo program showing the use of the DifferentialDrive class.
+ * Runs the motors with arcade steering.
+ */
+public class Robot extends TimedRobot {
+  private final PWMVictorSPX m_leftMotor = new PWMVictorSPX(0);
+  private final PWMVictorSPX m_rightMotor = new PWMVictorSPX(1);
+  private final DifferentialDrive m_robotDrive = new DifferentialDrive(m_leftMotor, m_rightMotor);
+  private final Joystick m_stick = new Joystick(0);
+
+  @Override
+  public void teleopPeriodic() {
+    // Drive with arcade drive.
+    // That means that the Y axis drives forward
+    // and backward, and the X turns left and right.
+    m_robotDrive.arcadeDrive(m_stick.getY(), m_stick.getX());
+  }
+}
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
index 81cbcb37a1..90dac6c058 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/examples.json
@@ -22,6 +22,16 @@
     "gradlebase": "java",
     "mainclass": "Main"
   },
+  {
+    "name": "Arcade Drive",
+    "description": "Demonstrates the use of the DifferentialDrive class to drive a robot with Arcade Drive.",
+    "tags": [
+      "Getting Started with Java"
+    ],
+    "foldername": "arcadedrive",
+    "gradlebase": "java",
+    "mainclass": "Main"
+  },
   {
     "name": "Mecanum Drive",
     "description": "Demonstrate the use of the RobotDrive class doing teleop driving with Mecanum steering",