diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java
index 73c6aeef61..a2bf9dd108 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/SplineHelper.java
@@ -7,7 +7,6 @@
 
 package edu.wpi.first.wpilibj.spline;
 
-import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 
@@ -53,26 +52,28 @@ public final class SplineHelper {
   }
 
   /**
-   * Returns quintic control vectors from a set of waypoints.
+   * Returns quintic splines from a set of waypoints.
    *
    * @param waypoints The waypoints
-   * @return List of control vectors
+   * @return List of splines.
    */
-  public static List<Spline.ControlVector> getQuinticControlVectorsFromWaypoints(
-      List<Pose2d> waypoints
-  ) {
-    List<Spline.ControlVector> vectors = new ArrayList<>();
-    for (int i = 0; i < waypoints.size() - 1; i++) {
+  @SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
+  public static QuinticHermiteSpline[] getQuinticSplinesFromWaypoints(List<Pose2d> waypoints) {
+    QuinticHermiteSpline[] splines = new QuinticHermiteSpline[waypoints.size() - 1];
+    for (int i = 0; i < waypoints.size() - 1; ++i) {
       var p0 = waypoints.get(i);
       var p1 = waypoints.get(i + 1);
 
       // This just makes the splines look better.
       final var scalar = 1.2 * p0.getTranslation().getDistance(p1.getTranslation());
 
-      vectors.add(getQuinticControlVector(scalar, p0));
-      vectors.add(getQuinticControlVector(scalar, p1));
+      var controlVecA = getQuinticControlVector(scalar, p0);
+      var controlVecB = getQuinticControlVector(scalar, p1);
+
+      splines[i]
+          = new QuinticHermiteSpline(controlVecA.x, controlVecB.x, controlVecA.y, controlVecB.y);
     }
-    return vectors;
+    return splines;
   }
 
   /**
@@ -216,15 +217,14 @@ public final class SplineHelper {
   @SuppressWarnings({"LocalVariableName", "PMD.AvoidInstantiatingObjectsInLoops"})
   public static QuinticHermiteSpline[] getQuinticSplinesFromControlVectors(
       Spline.ControlVector[] controlVectors) {
-    // There are twice as many control vectors are there are splines.
-    QuinticHermiteSpline[] splines = new QuinticHermiteSpline[controlVectors.length / 2];
-    for (int i = 0; i < controlVectors.length - 1; i += 2) {
+    QuinticHermiteSpline[] splines = new QuinticHermiteSpline[controlVectors.length - 1];
+    for (int i = 0; i < controlVectors.length - 1; i++) {
       var xInitial = controlVectors[i].x;
       var xFinal = controlVectors[i + 1].x;
       var yInitial = controlVectors[i].y;
       var yFinal = controlVectors[i + 1].y;
-      splines[i / 2] = new QuinticHermiteSpline(xInitial, xFinal,
-          yInitial, yFinal);
+      splines[i] = new QuinticHermiteSpline(xInitial, xFinal,
+                                            yInitial, yFinal);
     }
     return splines;
   }
diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
index 32c2873957..5e55c503c4 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
@@ -196,9 +196,38 @@ public final class TrajectoryGenerator {
    */
   @SuppressWarnings("LocalVariableName")
   public static Trajectory generateTrajectory(List<Pose2d> waypoints, TrajectoryConfig config) {
-    var originalList = SplineHelper.getQuinticControlVectorsFromWaypoints(waypoints);
-    var newList = new ControlVectorList(originalList);
-    return generateTrajectory(newList, config);
+    final var flip = new Transform2d(new Translation2d(), Rotation2d.fromDegrees(180.0));
+
+    List<Pose2d> newWaypoints = new ArrayList<>();
+    if (config.isReversed()) {
+      for (Pose2d originalWaypoint : waypoints) {
+        newWaypoints.add(originalWaypoint.plus(flip));
+      }
+    } else {
+      newWaypoints.addAll(waypoints);
+    }
+
+    // Get the spline points
+    List<PoseWithCurvature> points;
+    try {
+      points = splinePointsFromSplines(SplineHelper.getQuinticSplinesFromWaypoints(newWaypoints));
+    } catch (MalformedSplineException ex) {
+      reportError(ex.getMessage(), ex.getStackTrace());
+      return kDoNothingTrajectory;
+    }
+
+    // Change the points back to their original orientation.
+    if (config.isReversed()) {
+      for (var point : points) {
+        point.poseMeters = point.poseMeters.plus(flip);
+        point.curvatureRadPerMeter *= -1;
+      }
+    }
+
+    // Generate and return trajectory.
+    return TrajectoryParameterizer.timeParameterizeTrajectory(points, config.getConstraints(),
+        config.getStartVelocity(), config.getEndVelocity(), config.getMaxVelocity(),
+        config.getMaxAcceleration(), config.isReversed());
   }
 
   /**
diff --git a/wpimath/src/main/native/cpp/spline/SplineHelper.cpp b/wpimath/src/main/native/cpp/spline/SplineHelper.cpp
index e50e686c17..58f7537882 100644
--- a/wpimath/src/main/native/cpp/spline/SplineHelper.cpp
+++ b/wpimath/src/main/native/cpp/spline/SplineHelper.cpp
@@ -127,9 +127,7 @@ std::vector<QuinticHermiteSpline>
 SplineHelper::QuinticSplinesFromControlVectors(
     const std::vector<Spline<5>::ControlVector>& controlVectors) {
   std::vector<QuinticHermiteSpline> splines;
-  // There are twice as many control vectors are there are splines,
-  // so we increment the counter by 2.
-  for (size_t i = 0; i < controlVectors.size() - 1; i += 2) {
+  for (size_t i = 0; i < controlVectors.size() - 1; ++i) {
     auto& xInitial = controlVectors[i].x;
     auto& yInitial = controlVectors[i].y;
     auto& xFinal = controlVectors[i + 1].x;
@@ -160,10 +158,10 @@ SplineHelper::CubicControlVectorsFromWaypoints(
   return {initialCV, finalCV};
 }
 
-std::vector<Spline<5>::ControlVector>
-SplineHelper::QuinticControlVectorsFromWaypoints(
+std::vector<QuinticHermiteSpline> SplineHelper::QuinticSplinesFromWaypoints(
     const std::vector<Pose2d>& waypoints) {
-  std::vector<Spline<5>::ControlVector> vectors;
+  std::vector<QuinticHermiteSpline> splines;
+  splines.reserve(waypoints.size() - 1);
   for (size_t i = 0; i < waypoints.size() - 1; ++i) {
     auto& p0 = waypoints[i];
     auto& p1 = waypoints[i + 1];
@@ -172,10 +170,12 @@ SplineHelper::QuinticControlVectorsFromWaypoints(
     const auto scalar =
         1.2 * p0.Translation().Distance(p1.Translation()).to<double>();
 
-    vectors.push_back(QuinticControlVector(scalar, p0));
-    vectors.push_back(QuinticControlVector(scalar, p1));
+    auto controlVectorA = QuinticControlVector(scalar, p0);
+    auto controlVectorB = QuinticControlVector(scalar, p1);
+    splines.emplace_back(controlVectorA.x, controlVectorB.x, controlVectorA.y,
+                         controlVectorB.y);
   }
-  return vectors;
+  return splines;
 }
 
 void SplineHelper::ThomasAlgorithm(const std::vector<double>& a,
diff --git a/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp b/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
index 03821e2337..6cb3f7aa9c 100644
--- a/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
+++ b/wpimath/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
@@ -113,6 +113,30 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
 
 Trajectory TrajectoryGenerator::GenerateTrajectory(
     const std::vector<Pose2d>& waypoints, const TrajectoryConfig& config) {
-  return GenerateTrajectory(
-      SplineHelper::QuinticControlVectorsFromWaypoints(waypoints), config);
+  auto newWaypoints = waypoints;
+  const Transform2d flip{Translation2d(), Rotation2d(180_deg)};
+  if (config.IsReversed())
+    for (auto& waypoint : newWaypoints) waypoint += flip;
+
+  std::vector<SplineParameterizer::PoseWithCurvature> points;
+  try {
+    points = SplinePointsFromSplines(
+        SplineHelper::QuinticSplinesFromWaypoints(newWaypoints));
+  } catch (SplineParameterizer::MalformedSplineException& e) {
+    ReportError(e.what());
+    return kDoNothingTrajectory;
+  }
+
+  // After trajectory generation, flip theta back so it's relative to the
+  // field. Also fix curvature.
+  if (config.IsReversed()) {
+    for (auto& point : points) {
+      point = {point.first + flip, -point.second};
+    }
+  }
+
+  return TrajectoryParameterizer::TimeParameterizeTrajectory(
+      points, config.Constraints(), config.StartVelocity(),
+      config.EndVelocity(), config.MaxVelocity(), config.MaxAcceleration(),
+      config.IsReversed());
 }
diff --git a/wpimath/src/main/native/include/frc/spline/SplineHelper.h b/wpimath/src/main/native/include/frc/spline/SplineHelper.h
index 7a12542582..e04fa4532d 100644
--- a/wpimath/src/main/native/include/frc/spline/SplineHelper.h
+++ b/wpimath/src/main/native/include/frc/spline/SplineHelper.h
@@ -36,13 +36,13 @@ class SplineHelper {
       const Pose2d& end);
 
   /**
-   * Returns quintic control vectors from a set of waypoints.
+   * Returns quintic splines from a set of waypoints.
    *
    * @param waypoints The waypoints
-   * @return List of control vectors
+   * @return List of quintic splines.
    */
-  static std::vector<Spline<5>::ControlVector>
-  QuinticControlVectorsFromWaypoints(const std::vector<Pose2d>& waypoints);
+  static std::vector<QuinticHermiteSpline> QuinticSplinesFromWaypoints(
+      const std::vector<Pose2d>& waypoints);
 
   /**
    * Returns a set of cubic splines corresponding to the provided control
diff --git a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java b/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
index b84f1f750d..3b35db0094 100644
--- a/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSplineTest.java
@@ -31,9 +31,7 @@ class QuinticHermiteSplineTest {
     //var start = System.nanoTime();
 
     // Generate and parameterize the spline.
-    var controlVectors = SplineHelper.getQuinticControlVectorsFromWaypoints(List.of(a, b));
-    var spline = SplineHelper.getQuinticSplinesFromControlVectors(
-        controlVectors.toArray(new Spline.ControlVector[0]))[0];
+    var spline = SplineHelper.getQuinticSplinesFromWaypoints(List.of(a, b))[0];
     var poses = SplineParameterizer.parameterize(spline);
 
     // End the timer.
diff --git a/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp b/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
index 3dd70a579d..30b5b31182 100644
--- a/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
+++ b/wpimath/src/test/native/cpp/spline/QuinticHermiteSplineTest.cpp
@@ -27,8 +27,7 @@ class QuinticHermiteSplineTest : public ::testing::Test {
     const auto start = std::chrono::high_resolution_clock::now();
 
     // Generate and parameterize the spline.
-    const auto spline = SplineHelper::QuinticSplinesFromControlVectors(
-        SplineHelper::QuinticControlVectorsFromWaypoints({a, b}))[0];
+    const auto spline = SplineHelper::QuinticSplinesFromWaypoints({a, b})[0];
     const auto poses = SplineParameterizer::Parameterize(spline);
 
     // End timer.