diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
index 227ba33ade..ed5f4f0a01 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose2d.java
@@ -145,7 +145,7 @@ public class Pose2d implements Interpolatable<Pose2d> {
   public Pose2d transformBy(Transform2d other) {
     return new Pose2d(
         m_translation.plus(other.getTranslation().rotateBy(m_rotation)),
-        m_rotation.plus(other.getRotation()));
+        other.getRotation().plus(m_rotation));
   }
 
   /**
diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
index 4e32909d6a..59c75e8fcc 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/geometry/Pose3d.java
@@ -165,7 +165,7 @@ public class Pose3d implements Interpolatable<Pose3d> {
   public Pose3d transformBy(Transform3d other) {
     return new Pose3d(
         m_translation.plus(other.getTranslation().rotateBy(m_rotation)),
-        m_rotation.plus(other.getRotation()));
+        other.getRotation().plus(m_rotation));
   }
 
   /**
diff --git a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
index 7c5aa8be41..8909cc8d10 100644
--- a/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
+++ b/wpimath/src/main/native/cpp/geometry/Pose3d.cpp
@@ -70,7 +70,7 @@ Pose3d Pose3d::operator/(double scalar) const {
 
 Pose3d Pose3d::TransformBy(const Transform3d& other) const {
   return {m_translation + (other.Translation().RotateBy(m_rotation)),
-          m_rotation + other.Rotation()};
+          other.Rotation() + m_rotation};
 }
 
 Pose3d Pose3d::RelativeTo(const Pose3d& other) const {
diff --git a/wpimath/src/main/native/include/frc/geometry/Pose2d.inc b/wpimath/src/main/native/include/frc/geometry/Pose2d.inc
index feeadfa92b..c549f26963 100644
--- a/wpimath/src/main/native/include/frc/geometry/Pose2d.inc
+++ b/wpimath/src/main/native/include/frc/geometry/Pose2d.inc
@@ -33,7 +33,7 @@ constexpr Pose2d Pose2d::operator/(double scalar) const {
 
 constexpr Pose2d Pose2d::TransformBy(const Transform2d& other) const {
   return {m_translation + (other.Translation().RotateBy(m_rotation)),
-          m_rotation + other.Rotation()};
+          other.Rotation() + m_rotation};
 }
 
 }  // namespace frc
diff --git a/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java b/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
index 96ea6a9ed4..f13819f03d 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/geometry/Pose3dTest.java
@@ -15,6 +15,61 @@ import org.junit.jupiter.api.Test;
 class Pose3dTest {
   private static final double kEpsilon = 1E-9;
 
+  @Test
+  void testTransformByRotations() {
+    var initialPose =
+        new Pose3d(
+            new Translation3d(0.0, 0.0, 0.0),
+            new Rotation3d(
+                Units.degreesToRadians(0.0),
+                Units.degreesToRadians(0.0),
+                Units.degreesToRadians(0.0)));
+
+    var transform1 =
+        new Transform3d(
+            new Translation3d(0.0, 0.0, 0.0),
+            new Rotation3d(
+                Units.degreesToRadians(90.0),
+                Units.degreesToRadians(45.0),
+                Units.degreesToRadians(0.0)));
+
+    var transform2 =
+        new Transform3d(
+            new Translation3d(0.0, 0.0, 0.0),
+            new Rotation3d(
+                Units.degreesToRadians(-90.0),
+                Units.degreesToRadians(0.0),
+                Units.degreesToRadians(0.0)));
+
+    var transform3 =
+        new Transform3d(
+            new Translation3d(0.0, 0.0, 0.0),
+            new Rotation3d(
+                Units.degreesToRadians(0.0),
+                Units.degreesToRadians(-45.0),
+                Units.degreesToRadians(0.0)));
+
+    // This sequence of rotations should diverge from the origin and eventually return to it. When
+    // each rotation occurs, it should be performed intrinsicly, i.e. 'from the viewpoint' of and
+    // with
+    // the axes of the pose that is being transformed, just like how the translation is done 'from
+    // the
+    // viewpoint' of the pose that is being transformed.
+    var finalPose =
+        initialPose.transformBy(transform1).transformBy(transform2).transformBy(transform3);
+
+    assertAll(
+        () ->
+            assertEquals(
+                finalPose.getRotation().getX(), initialPose.getRotation().getX(), kEpsilon),
+        () ->
+            assertEquals(
+                finalPose.getRotation().getY(), initialPose.getRotation().getY(), kEpsilon),
+        () ->
+            assertEquals(
+                finalPose.getRotation().getZ(), initialPose.getRotation().getZ(), kEpsilon));
+  }
+
   @Test
   void testTransformBy() {
     var zAxis = VecBuilder.fill(0.0, 0.0, 1.0);
diff --git a/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp b/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
index 46e4a28ae1..8c4452cfcc 100644
--- a/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
+++ b/wpimath/src/test/native/cpp/geometry/Pose3dTest.cpp
@@ -9,6 +9,29 @@
 
 using namespace frc;
 
+TEST(Pose3dTest, TestTransformByRotations) {
+  const double kEpsilon = 1E-9;
+
+  const Pose3d initialPose{0_m, 0_m, 0_m, Rotation3d{0_deg, 0_deg, 0_deg}};
+  const Transform3d transform1{Translation3d{0_m, 0_m, 0_m},
+                               Rotation3d{90_deg, 45_deg, 0_deg}};
+  const Transform3d transform2{Translation3d{0_m, 0_m, 0_m},
+                               Rotation3d{-90_deg, 0_deg, 0_deg}};
+  const Transform3d transform3{Translation3d{0_m, 0_m, 0_m},
+                               Rotation3d{0_deg, -45_deg, 0_deg}};
+
+  Pose3d finalPose = initialPose.TransformBy(transform1)
+                         .TransformBy(transform2)
+                         .TransformBy(transform3);
+
+  EXPECT_NEAR(finalPose.Rotation().X().value(),
+              initialPose.Rotation().X().value(), kEpsilon);
+  EXPECT_NEAR(finalPose.Rotation().Y().value(),
+              initialPose.Rotation().Y().value(), kEpsilon);
+  EXPECT_NEAR(finalPose.Rotation().Z().value(),
+              initialPose.Rotation().Z().value(), kEpsilon);
+}
+
 TEST(Pose3dTest, TransformBy) {
   Eigen::Vector3d zAxis{0.0, 0.0, 1.0};