diff --git a/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp b/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
index 1685d62a2a..a43adf2fb2 100644
--- a/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/CommandScheduler.cpp
@@ -315,11 +315,15 @@ void CommandScheduler::Cancel(Command* command,
   for (auto&& action : m_impl->interruptActions) {
     action(*command, interruptor);
   }
+  wpi::util::SmallVector<Subsystem*, 8> toErase;
   for (auto&& requirement : m_impl->requirements) {
     if (requirement.second == command) {
-      m_impl->requirements.erase(requirement.first);
+      toErase.push_back(requirement.first);
     }
   }
+  for (auto* subsystem : toErase) {
+    m_impl->requirements.erase(subsystem);
+  }
   m_watchdog.AddEpoch(command->GetName() + ".End(true)");
 }