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 be5c03a10e..0d2178f6b5 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
@@ -93,6 +93,19 @@ public final class Commands {
         () -> {}, run, interrupted -> end.run(), () -> false, requirements);
   }
 
+  /**
+   * Constructs a command that runs an action once, and then runs an action every iteration until
+   * interrupted.
+   *
+   * @param start the action to run on start
+   * @param run the action to run every iteration
+   * @param requirements subsystems the action requires
+   * @return the command
+   */
+  public static Command startRun(Runnable start, Runnable run, Subsystem... requirements) {
+    return new FunctionalCommand(start, run, interrupted -> {}, () -> false, requirements);
+  }
+
   /**
    * Constructs a command that prints a message and finishes.
    *
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 ed9454362a..c0e694774c 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
@@ -146,6 +146,18 @@ public interface Subsystem {
     return Commands.runEnd(run, end, this);
   }
 
+  /**
+   * Constructs a command that runs an action once and then runs another action every iteration
+   * until interrupted. Requires this subsystem.
+   *
+   * @param start the action to run on start
+   * @param run the action to run every iteration
+   * @return the command
+   */
+  default Command startRun(Runnable start, Runnable run) {
+    return Commands.startRun(start, run, this);
+  }
+
   /**
    * Constructs a {@link DeferredCommand} with the provided supplier. This subsystem is added as a
    * requirement.
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
index 2e698425bb..15458083d6 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Commands.cpp
@@ -58,6 +58,14 @@ CommandPtr cmd::RunEnd(std::function<void()> run, std::function<void()> end,
       .ToPtr();
 }
 
+CommandPtr cmd::StartRun(std::function<void()> start, std::function<void()> run,
+                         Requirements requirements) {
+  return FunctionalCommand(
+             std::move(start), std::move(run), [](bool interrupted) {},
+             [] { return false; }, requirements)
+      .ToPtr();
+}
+
 CommandPtr cmd::Print(std::string_view msg) {
   return PrintCommand(msg).ToPtr();
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
index a0241bdd02..5800c44069 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Subsystem.cpp
@@ -61,6 +61,11 @@ CommandPtr Subsystem::RunEnd(std::function<void()> run,
   return cmd::RunEnd(std::move(run), std::move(end), {this});
 }
 
+CommandPtr Subsystem::StartRun(std::function<void()> start,
+                               std::function<void()> run) {
+  return cmd::StartRun(std::move(start), std::move(run), {this});
+}
+
 CommandPtr Subsystem::Defer(wpi::unique_function<CommandPtr()> supplier) {
   return cmd::Defer(std::move(supplier), {this});
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h b/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
index 0124d0ae3f..6cfad01b1f 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Commands.h
@@ -86,6 +86,18 @@ CommandPtr StartEnd(std::function<void()> start, std::function<void()> end,
 CommandPtr RunEnd(std::function<void()> run, std::function<void()> end,
                   Requirements requirements = {});
 
+/**
+ * Constructs a command that runs an action once, and then runs an action every
+ * iteration until interrupted.
+ *
+ * @param start the action to run on start
+ * @param run the action to run every iteration
+ * @param requirements subsystems the action requires
+ */
+[[nodiscard]]
+CommandPtr StartRun(std::function<void()> start, std::function<void()> run,
+                    Requirements requirements = {});
+
 /**
  * Constructs a command that prints a message and finishes.
  *
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
index b95b837c5f..d62f69ca35 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Subsystem.h
@@ -159,6 +159,16 @@ class Subsystem {
   [[nodiscard]]
   CommandPtr RunEnd(std::function<void()> run, std::function<void()> end);
 
+  /**
+   * Constructs a command that runs an action once, and then runs an action
+   * every iteration until interrupted. Requires this subsystem.
+   *
+   * @param start the action to run on start
+   * @param run the action to run every iteration
+   */
+  [[nodiscard]]
+  CommandPtr StartRun(std::function<void()> start, std::function<void()> run);
+
   /**
    * Constructs a DeferredCommand with the provided supplier. This subsystem is
    * added as a requirement.