diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
index 0130905fb4..870feb387c 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
@@ -151,6 +151,21 @@ public final class Commands {
     return new SelectCommand(commands, selector);
   }
 
+  /**
+   * Constructs a command that schedules the command returned from the supplier when initialized,
+   * and ends when it is no longer scheduled. The supplier is called when the command is
+   * initialized.
+   *
+   * @param supplier the command supplier
+   * @return the command
+   * @see ProxyCommand
+   */
+  public static Command deferredProxy(Supplier<Command> supplier) {
+    return new ProxyCommand(supplier);
+  }
+
+  // Command Groups
+
   /**
    * Runs a group of commands in series, one after the other.
    *
@@ -162,8 +177,6 @@ public final class Commands {
     return new SequentialCommandGroup(commands);
   }
 
-  // Command Groups
-
   /**
    * Runs a group of commands in series, one after the other. Once the last command ends, the group
    * is restarted.
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
index 5c847b1d19..b7333f9e34 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
@@ -11,6 +11,7 @@
 #include "frc2/command/ParallelDeadlineGroup.h"
 #include "frc2/command/ParallelRaceGroup.h"
 #include "frc2/command/PrintCommand.h"
+#include "frc2/command/ProxyCommand.h"
 #include "frc2/command/RunCommand.h"
 #include "frc2/command/SequentialCommandGroup.h"
 #include "frc2/command/WaitCommand.h"
@@ -58,6 +59,14 @@ CommandPtr cmd::Print(std::string_view msg) {
   return PrintCommand(msg).ToPtr();
 }
 
+CommandPtr cmd::DeferredProxy(wpi::unique_function<Command*()> supplier) {
+  return ProxyCommand(std::move(supplier)).ToPtr();
+}
+
+CommandPtr cmd::DeferredProxy(wpi::unique_function<CommandPtr()> supplier) {
+  return ProxyCommand(std::move(supplier)).ToPtr();
+}
+
 CommandPtr cmd::Wait(units::second_t duration) {
   return WaitCommand(duration).ToPtr();
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h b/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
index 94ae8dce26..7653188dc6 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
@@ -142,6 +142,26 @@ CommandPtr Select(std::function<Key()> selector,
   return SelectCommand(std::move(selector), std::move(vec)).ToPtr();
 }
 
+/**
+ * Constructs a command that schedules the command returned from the supplier
+ * when initialized, and ends when it is no longer scheduled. The supplier is
+ * called when the command is initialized.
+ *
+ * @param supplier the command supplier
+ */
+[[nodiscard]]
+CommandPtr DeferredProxy(wpi::unique_function<Command*()> supplier);
+
+/**
+ * Constructs a command that schedules the command returned from the supplier
+ * when initialized, and ends when it is no longer scheduled. The supplier is
+ * called when the command is initialized.
+ *
+ * @param supplier the command supplier
+ */
+[[nodiscard]]
+CommandPtr DeferredProxy(wpi::unique_function<CommandPtr()> supplier);
+
 // Command Groups
 
 namespace impl {