diff --git a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
index 756deaae6a..7746099c72 100644
--- a/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/MecanumControllerCommand/cpp/RobotContainer.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -103,6 +103,9 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
 
       {&m_drive});
 
+  // Reset odometry to the starting pose of the trajectory.
+  m_drive.ResetOdometry(exampleTrajectory.InitialPose());
+
   // no auto
   return new frc2::SequentialCommandGroup(
       std::move(mecanumControllerCommand),
diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
index 33d53c6477..2f39216646 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/RobotContainer.cpp
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -84,6 +84,9 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
       [this](auto left, auto right) { m_drive.TankDriveVolts(left, right); },
       {&m_drive});
 
+  // Reset odometry to the starting pose of the trajectory.
+  m_drive.ResetOdometry(exampleTrajectory.InitialPose());
+
   // no auto
   return new frc2::SequentialCommandGroup(
       std::move(ramseteCommand),
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
index dd418d2a75..4bb69bb211 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -83,6 +83,9 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
 
       {&m_drive});
 
+  // Reset odometry to the starting pose of the trajectory.
+  m_drive.ResetOdometry(exampleTrajectory.InitialPose());
+
   // no auto
   return new frc2::SequentialCommandGroup(
       std::move(swerveControllerCommand), std::move(swerveControllerCommand),
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
index 1ec1fc9ca8..91055c6fc2 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/RobotContainer.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -133,6 +133,9 @@ public class RobotContainer {
         m_robotDrive
     );
 
+    // Reset odometry to the starting pose of the trajectory.
+    m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
+
     // Run path following command, then stop at the end.
     return mecanumControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false));
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
index 8bb4e1d1ae..bb8dd28437 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/RobotContainer.java
@@ -1,5 +1,5 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Copyright (c) 2019-2020 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
 /* the project.                                                               */
@@ -135,6 +135,9 @@ public class RobotContainer {
         m_robotDrive
     );
 
+    // Reset odometry to the starting pose of the trajectory.
+    m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
+
     // Run path following command, then stop at the end.
     return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVolts(0, 0));
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
index 26e6f22043..544cb1ad5b 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/RobotContainer.java
@@ -117,6 +117,9 @@ public class RobotContainer {
 
     );
 
+    // Reset odometry to the starting pose of the trajectory.
+    m_robotDrive.resetOdometry(exampleTrajectory.getInitialPose());
+
     // Run path following command, then stop at the end.
     return swerveControllerCommand.andThen(() -> m_robotDrive.drive(0, 0, 0, false));
   }