diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp
index daa57c956f..b0a16bf182 100644
--- a/wpilibc/src/main/native/cpp/DriverStation.cpp
+++ b/wpilibc/src/main/native/cpp/DriverStation.cpp
@@ -568,6 +568,20 @@ int DriverStation::GetLocation() {
   }
 }
 
+bool DriverStation::WaitForDsConnection(units::second_t timeout) {
+  wpi::Event event{true, false};
+  HAL_ProvideNewDataEventHandle(event.GetHandle());
+  bool result = false;
+  if (timeout == 0_s) {
+    result = wpi::WaitForObject(event.GetHandle());
+  } else {
+    result = wpi::WaitForObject(event.GetHandle(), timeout.value(), nullptr);
+  }
+
+  HAL_RemoveNewDataEventHandle(event.GetHandle());
+  return result;
+}
+
 double DriverStation::GetMatchTime() {
   int32_t status = 0;
   return HAL_GetMatchTime(&status);
diff --git a/wpilibc/src/main/native/include/frc/DriverStation.h b/wpilibc/src/main/native/include/frc/DriverStation.h
index 28b1cce17a..ce3a7fe45d 100644
--- a/wpilibc/src/main/native/include/frc/DriverStation.h
+++ b/wpilibc/src/main/native/include/frc/DriverStation.h
@@ -296,6 +296,14 @@ class DriverStation final {
    */
   static int GetLocation();
 
+  /**
+   * Wait for a DS connection.
+   *
+   * @param timeout timeout in seconds. 0 for infinite.
+   * @return true if connected, false if timeout
+   */
+  static bool WaitForDsConnection(units::second_t timeout);
+
   /**
    * Return the approximate match time.
    *
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
index 0db40f8587..355f9d01f6 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -1145,6 +1145,33 @@ public final class DriverStation {
     }
   }
 
+  /**
+   * Wait for a DS connection.
+   *
+   * @param timeoutSeconds timeout in seconds. 0 for infinite.
+   * @return true if connected, false if timeout
+   */
+  public static boolean waitForDsConnection(double timeoutSeconds) {
+    int event = WPIUtilJNI.createEvent(true, false);
+    DriverStationJNI.provideNewDataEventHandle(event);
+    boolean result;
+    try {
+      if (timeoutSeconds == 0) {
+        WPIUtilJNI.waitForObject(event);
+        result = true;
+      } else {
+        result = !WPIUtilJNI.waitForObjectTimeout(event, timeoutSeconds);
+      }
+    } catch (InterruptedException ex) {
+      Thread.currentThread().interrupt();
+      result = false;
+    } finally {
+      DriverStationJNI.removeNewDataEventHandle(event);
+      WPIUtilJNI.destroyEvent(event);
+    }
+    return result;
+  }
+
   /**
    * Return the approximate match time. The FMS does not send an official match time to the robots,
    * but does send an approximate match time. The value will count down the time remaining in the