diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
index b96bc26a3a..78c4819977 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitUntilCommand.java
@@ -34,10 +34,15 @@ public class WaitUntilCommand extends Command {
    * guarantee that the time at which the action is performed will be judged to be legal by the
    * referees. When in doubt, add a safety factor or time the action manually.
    *
+   * <p>The match time counts down when connected to FMS or the DS is in practice mode for the
+   * current mode. When the DS is not connected to FMS or in practice mode, the command will not
+   * wait.
+   *
    * @param time the match time after which to end, in seconds
+   * @see edu.wpi.first.wpilibj.DriverStation#getMatchTime()
    */
   public WaitUntilCommand(double time) {
-    this(() -> Timer.getMatchTime() - time > 0);
+    this(() -> Timer.getMatchTime() < time);
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
index 9ea6fbfae9..5a24801927 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitUntilCommand.cpp
@@ -14,7 +14,7 @@ WaitUntilCommand::WaitUntilCommand(std::function<bool()> condition)
     : m_condition{std::move(condition)} {}
 
 WaitUntilCommand::WaitUntilCommand(units::second_t time)
-    : m_condition{[=] { return frc::Timer::GetMatchTime() - time > 0_s; }} {}
+    : m_condition{[=] { return frc::Timer::GetMatchTime() < time; }} {}
 
 bool WaitUntilCommand::IsFinished() {
   return m_condition();
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
index 377a1ba9a6..ea23885860 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/WaitUntilCommand.h
@@ -36,7 +36,12 @@ class WaitUntilCommand : public CommandHelper<Command, WaitUntilCommand> {
    * will be judged to be legal by the referees.  When in doubt, add a safety
    * factor or time the action manually.
    *
+   * The match time counts down when connected to FMS or the DS is in practice
+   * mode for the current mode. When the DS is not connected to FMS or in
+   * practice mode, the command will not wait.
+   *
    * @param time the match time after which to end, in seconds
+   * @see frc::DriverStation::GetMatchTime()
    */
   explicit WaitUntilCommand(units::second_t time);