diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
index a26043f8bd..1f9866134b 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
@@ -22,6 +22,7 @@ import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
 import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.RobotState;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -253,6 +254,9 @@ public final class CommandScheduler implements Sendable, AutoCloseable {
     //Run the periodic method of all registered subsystems.
     for (Subsystem subsystem : m_subsystems.keySet()) {
       subsystem.periodic();
+      if (RobotBase.isSimulation()) {
+        subsystem.simulationPeriodic();
+      }
       m_watchdog.addEpoch(subsystem.getClass().getSimpleName() + ".periodic()");
     }
 
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
index 7dc917b3a5..e693d87404 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Subsystem.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Copyright (c) 2018-2020 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.                                                               */
@@ -33,6 +33,14 @@ public interface Subsystem {
   default void periodic() {
   }
 
+  /**
+   * This method is called periodically by the {@link CommandScheduler}.  Useful for updating
+   * subsystem-specific state that needs to be maintained for simulations, such as for updating
+   * {@link edu.wpi.first.wpilibj.simulation} classes and setting simulated sensor readings.
+   */
+  default void simulationPeriodic() {
+  }
+
   /**
    * Sets the default {@link Command} of the subsystem.  The default command will be
    * automatically scheduled when no other commands are scheduled that require the subsystem.
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index ffd8599f74..91bf6e5275 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -7,6 +7,7 @@
 
 #include "frc2/command/CommandScheduler.h"
 
+#include <frc/RobotBase.h>
 #include <frc/RobotState.h>
 #include <frc/TimedRobot.h>
 #include <frc/WPIErrors.h>
@@ -192,6 +193,9 @@ void CommandScheduler::Run() {
   // Run the periodic method of all registered subsystems.
   for (auto&& subsystem : m_impl->subsystems) {
     subsystem.getFirst()->Periodic();
+    if (frc::RobotBase::IsSimulation()) {
+      subsystem.getFirst()->SimulationPeriodic();
+    }
     m_watchdog.AddEpoch("Subsystem Periodic()");
   }
 
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
index cccb55bc17..010fcb1c09 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 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.                                                               */
@@ -14,6 +14,8 @@ Subsystem::~Subsystem() {
 
 void Subsystem::Periodic() {}
 
+void Subsystem::SimulationPeriodic() {}
+
 Command* Subsystem::GetDefaultCommand() const {
   return CommandScheduler::GetInstance().GetDefaultCommand(this);
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
index 687510d588..3f8a278aa7 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 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.                                                               */
@@ -48,6 +48,14 @@ class Subsystem {
    */
   virtual void Periodic();
 
+  /**
+   * This method is called periodically by the CommandScheduler.  Useful for
+   * updating subsystem-specific state that needs to be maintained for
+   * simulations, such as for updating simulation classes and setting simulated
+   * sensor readings.
+   */
+  virtual void SimulationPeriodic();
+
   /**
    * Sets the default Command of the subsystem.  The default command will be
    * automatically scheduled when no other commands are scheduled that require