diff --git a/wpilibc/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp b/wpilibc/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
index 35585f6042..ed97a904f1 100644
--- a/wpilibc/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
+++ b/wpilibc/src/main/native/cpp/trajectory/TrajectoryGenerator.cpp
@@ -75,3 +75,38 @@ Trajectory TrajectoryGenerator::GenerateTrajectory(
       points, std::move(constraints), startVelocity, endVelocity, maxVelocity,
       maxAcceleration, reversed);
 }
+
+Trajectory TrajectoryGenerator::GenerateTrajectory(
+    const std::vector<Pose2d>& waypoints,
+    const DifferentialDriveKinematics& differentialDriveKinematics,
+    units::meters_per_second_t startVelocity,
+    units::meters_per_second_t endVelocity,
+    units::meters_per_second_t maxVelocity,
+    units::meters_per_second_squared_t maxAcceleration, bool reversed) {
+  std::vector<std::unique_ptr<TrajectoryConstraint>> constraints;
+  constraints.emplace_back(
+      std::make_unique<DifferentialDriveKinematicsConstraint>(
+          differentialDriveKinematics, maxVelocity));
+
+  return GenerateTrajectory(waypoints, std::move(constraints), startVelocity,
+                            endVelocity, maxVelocity, maxAcceleration,
+                            reversed);
+}
+
+Trajectory TrajectoryGenerator::GenerateTrajectory(
+    const Pose2d& start, const std::vector<Translation2d>& waypoints,
+    const Pose2d& end,
+    const DifferentialDriveKinematics& differentialDriveKinematics,
+    units::meters_per_second_t startVelocity,
+    units::meters_per_second_t endVelocity,
+    units::meters_per_second_t maxVelocity,
+    units::meters_per_second_squared_t maxAcceleration, bool reversed) {
+  std::vector<std::unique_ptr<TrajectoryConstraint>> constraints;
+  constraints.emplace_back(
+      std::make_unique<DifferentialDriveKinematicsConstraint>(
+          differentialDriveKinematics, maxVelocity));
+
+  return GenerateTrajectory(start, waypoints, end, std::move(constraints),
+                            startVelocity, endVelocity, maxVelocity,
+                            maxAcceleration, reversed);
+}
diff --git a/wpilibc/src/main/native/include/frc/trajectory/TrajectoryGenerator.h b/wpilibc/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
index b39f6d392f..061b3738fd 100644
--- a/wpilibc/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
+++ b/wpilibc/src/main/native/include/frc/trajectory/TrajectoryGenerator.h
@@ -13,6 +13,7 @@
 
 #include "frc/spline/SplineParameterizer.h"
 #include "frc/trajectory/Trajectory.h"
+#include "frc/trajectory/constraint/DifferentialDriveKinematicsConstraint.h"
 #include "frc/trajectory/constraint/TrajectoryConstraint.h"
 
 namespace frc {
@@ -73,6 +74,62 @@ class TrajectoryGenerator {
       units::meters_per_second_t maxVelocity,
       units::meters_per_second_squared_t maxAcceleration, bool reversed);
 
+  /**
+   * Generates a trajectory with the given waypoints and differential drive
+   * constraints. Use this method if you just want a constraint such that none
+   * of the wheels on your differential drive exceed the specified max velocity.
+   * If you desire to impose more constraints, please use the other overloads.
+   *
+   * @param waypoints A vector of points that the trajectory must go through.
+   * @param differentialDriveKinematics The DifferentialDriveKinematics
+   * object that represents your drivetrain.
+   * @param startVelocity The start velocity for the trajectory.
+   * @param endVelocity The end velocity for the trajectory.
+   * @param maxVelocity The max velocity for the trajectory.
+   * @param maxAcceleration The max acceleration for the trajectory.
+   * @param reversed Whether the robot should move backwards. Note that the
+   * robot will still move from a -> b -> ... -> z as defined in the waypoints.
+   *
+   * @return The trajectory.
+   */
+  static Trajectory GenerateTrajectory(
+      const std::vector<Pose2d>& waypoints,
+      const DifferentialDriveKinematics& differentialDriveKinematics,
+      units::meters_per_second_t startVelocity,
+      units::meters_per_second_t endVelocity,
+      units::meters_per_second_t maxVelocity,
+      units::meters_per_second_squared_t maxAcceleration, bool reversed);
+
+  /**
+   * Generates a trajectory with the given waypoints and differential drive
+   * constraints. Use this method if you just want a constraint such that none
+   * of the wheels on your differential drive exceed the specified max velocity.
+   * If you desire to impose more constraints, please use the other overloads.
+   *
+   * @param start The starting pose for the trajectory.
+   * @param waypoints The interior waypoints for the trajectory. The headings
+   * will be determined automatically to ensure continuous curvature.
+   * @param end The ending pose for the trajectory.
+   * @param differentialDriveKinematics The DifferentialDriveKinematics
+   * object that represents your drivetrain.
+   * @param startVelocity The start velocity for the trajectory.
+   * @param endVelocity The end velocity for the trajectory.
+   * @param maxVelocity The max velocity for the trajectory.
+   * @param maxAcceleration The max acceleration for the trajectory.
+   * @param reversed Whether the robot should move backwards. Note that the
+   * robot will still move from a -> b -> ... -> z as defined in the waypoints.
+   *
+   * @return The trajectory.
+   */
+  static Trajectory GenerateTrajectory(
+      const Pose2d& start, const std::vector<Translation2d>& waypoints,
+      const Pose2d& end,
+      const DifferentialDriveKinematics& differentialDriveKinematics,
+      units::meters_per_second_t startVelocity,
+      units::meters_per_second_t endVelocity,
+      units::meters_per_second_t maxVelocity,
+      units::meters_per_second_squared_t maxAcceleration, bool reversed);
+
  private:
   /**
    * Generate spline points from a vector of splines by parameterizing the
diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
index 2ec0fe4b90..364fa5f660 100644
--- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
+++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrajectoryGenerator.java
@@ -14,10 +14,12 @@ import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.geometry.Transform2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics;
 import edu.wpi.first.wpilibj.spline.PoseWithCurvature;
 import edu.wpi.first.wpilibj.spline.Spline;
 import edu.wpi.first.wpilibj.spline.SplineHelper;
 import edu.wpi.first.wpilibj.spline.SplineParameterizer;
+import edu.wpi.first.wpilibj.trajectory.constraint.DifferentialDriveKinematicsConstraint;
 import edu.wpi.first.wpilibj.trajectory.constraint.TrajectoryConstraint;
 
 public final class TrajectoryGenerator {
@@ -131,6 +133,90 @@ public final class TrajectoryGenerator {
         maxAccelerationMetersPerSecondSq, reversed);
   }
 
+  /**
+   * Generates a trajectory with the given waypoints and differential drive constraints. Use
+   * this method if you just want a constraint such that none of the wheels on your differential
+   * drive exceed the specified max velocity. If you desire to impose more constraints, please
+   * use the other overloads.
+   *
+   * @param waypoints                        A vector of points that the trajectory must go through.
+   * @param differentialDriveKinematics      The DifferentialDriveKinematics object that represents
+   *                                         your drivetrain.
+   * @param startVelocityMetersPerSecond     The start velocity for the trajectory.
+   * @param endVelocityMetersPerSecond       The end velocity for the trajectory.
+   * @param maxVelocityMetersPerSecond       The max velocity for the trajectory.
+   * @param maxAccelerationMetersPerSecondSq The max acceleration for the trajectory.
+   * @param reversed                         Whether the robot should move backwards. Note that the
+   *                                         robot will still move from a -&gt; b -&gt; ... -&gt; z
+   *                                         as defined in the waypoints.
+   * @return The trajectory.
+   */
+  public static Trajectory generateTrajectory(
+      List<Pose2d> waypoints,
+      DifferentialDriveKinematics differentialDriveKinematics,
+      double startVelocityMetersPerSecond,
+      double endVelocityMetersPerSecond,
+      double maxVelocityMetersPerSecond,
+      double maxAccelerationMetersPerSecondSq,
+      boolean reversed
+  ) {
+    return generateTrajectory(
+        waypoints,
+        List.of(new DifferentialDriveKinematicsConstraint(differentialDriveKinematics,
+            maxVelocityMetersPerSecond)),
+        startVelocityMetersPerSecond,
+        endVelocityMetersPerSecond,
+        maxVelocityMetersPerSecond,
+        maxAccelerationMetersPerSecondSq,
+        reversed
+    );
+  }
+
+  /**
+   * Generates a trajectory with the given waypoints and differential drive constraints. Use
+   * this method if you just want a constraint such that none of the wheels on your differential
+   * drive exceed the specified max velocity. If you desire to impose more constraints, please
+   * use the other overloads.
+   *
+   * @param start                            The starting pose for the trajectory.
+   * @param waypoints                        The interior waypoints for the trajectory. The headings
+   *                                         will be determined automatically to ensure continuous
+   *                                         curvature.
+   * @param end                              The ending pose for the trajectory.
+   * @param differentialDriveKinematics      The DifferentialDriveKinematics object that represents
+   *                                         your drivetrain.
+   * @param startVelocityMetersPerSecond     The start velocity for the trajectory.
+   * @param endVelocityMetersPerSecond       The end velocity for the trajectory.
+   * @param maxVelocityMetersPerSecond       The max velocity for the trajectory.
+   * @param maxAccelerationMetersPerSecondSq The max acceleration for the trajectory.
+   * @param reversed                         Whether the robot should move backwards. Note that the
+   *                                         robot will still move from a -&gt; b -&gt; ... -&gt; z
+   *                                         as defined in the waypoints.
+   * @return The trajectory.
+   */
+  public static Trajectory generateTrajectory(
+      Pose2d start,
+      List<Translation2d> waypoints,
+      Pose2d end,
+      DifferentialDriveKinematics differentialDriveKinematics,
+      double startVelocityMetersPerSecond,
+      double endVelocityMetersPerSecond,
+      double maxVelocityMetersPerSecond,
+      double maxAccelerationMetersPerSecondSq,
+      boolean reversed
+  ) {
+    return generateTrajectory(
+        start, waypoints, end,
+        List.of(new DifferentialDriveKinematicsConstraint(differentialDriveKinematics,
+            maxVelocityMetersPerSecond)),
+        startVelocityMetersPerSecond,
+        endVelocityMetersPerSecond,
+        maxVelocityMetersPerSecond,
+        maxAccelerationMetersPerSecondSq,
+        reversed
+    );
+  }
+
   private static List<PoseWithCurvature> splinePointsFromSplines(
       Spline[] splines) {
     // Create the vector of spline points.