diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
index c521f8b8ff..96824cc171 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
@@ -81,9 +81,6 @@ MecanumControllerCommand::MecanumControllerCommand(
       m_outputVolts(std::move(output)),
       m_usePID(true) {
   AddRequirements(requirements);
-  m_desiredRotation = [&] {
-    return m_trajectory.States().back().pose.Rotation();
-  };
 }
 
 MecanumControllerCommand::MecanumControllerCommand(
@@ -158,9 +155,6 @@ MecanumControllerCommand::MecanumControllerCommand(
       m_outputVolts(std::move(output)),
       m_usePID(true) {
   AddRequirements(requirements);
-  m_desiredRotation = [&] {
-    return m_trajectory.States().back().pose.Rotation();
-  };
 }
 
 MecanumControllerCommand::MecanumControllerCommand(
@@ -203,9 +197,6 @@ MecanumControllerCommand::MecanumControllerCommand(
       m_outputVel(std::move(output)),
       m_usePID(false) {
   AddRequirements(requirements);
-  m_desiredRotation = [&] {
-    return m_trajectory.States().back().pose.Rotation();
-  };
 }
 
 MecanumControllerCommand::MecanumControllerCommand(
@@ -248,12 +239,12 @@ MecanumControllerCommand::MecanumControllerCommand(
       m_outputVel(std::move(output)),
       m_usePID(false) {
   AddRequirements(requirements);
-  m_desiredRotation = [&] {
-    return m_trajectory.States().back().pose.Rotation();
-  };
 }
 
 void MecanumControllerCommand::Initialize() {
+  m_desiredRotation = [&] {
+    return m_trajectory.States().back().pose.Rotation();
+  };
   m_prevTime = 0_s;
   auto initialState = m_trajectory.Sample(0_s);
 
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc b/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
index 1f65b788f1..ba63b9c31b 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
@@ -43,9 +43,6 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
       m_controller(xController, yController, thetaController),
       m_outputStates(output) {
   this->AddRequirements(requirements);
-  m_desiredRotation = [&] {
-    return m_trajectory.States().back().pose.Rotation();
-  };
 }
 
 template <size_t NumModules>
@@ -80,13 +77,13 @@ SwerveControllerCommand<NumModules>::SwerveControllerCommand(
       m_controller(xController, yController, thetaController),
       m_outputStates(output) {
   this->AddRequirements(requirements);
-  m_desiredRotation = [&] {
-    return m_trajectory.States().back().pose.Rotation();
-  };
 }
 
 template <size_t NumModules>
 void SwerveControllerCommand<NumModules>::Initialize() {
+  m_desiredRotation = [&] {
+    return m_trajectory.States().back().pose.Rotation();
+  };
   m_timer.Reset();
   m_timer.Start();
 }
diff --git a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
index f958cde4d8..a35314e23b 100644
--- a/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp
@@ -86,7 +86,7 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
 
   // no auto
   return new frc2::SequentialCommandGroup(
-      std::move(swerveControllerCommand), std::move(swerveControllerCommand),
+      std::move(swerveControllerCommand),
       frc2::InstantCommand(
           [this]() {
             m_drive.Drive(units::meters_per_second_t(0),