diff --git a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
index f0420b7426..49c077dad0 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/controller/PIDController.java
@@ -338,8 +338,10 @@ public class PIDController implements Sendable, AutoCloseable {
 
   /** Resets the previous error and the integral term. */
   public void reset() {
+    m_positionError = 0;
     m_prevError = 0;
     m_totalError = 0;
+    m_velocityError = 0;
   }
 
   @Override
diff --git a/wpimath/src/main/native/cpp/controller/PIDController.cpp b/wpimath/src/main/native/cpp/controller/PIDController.cpp
index f5d4801fe6..b18395520e 100644
--- a/wpimath/src/main/native/cpp/controller/PIDController.cpp
+++ b/wpimath/src/main/native/cpp/controller/PIDController.cpp
@@ -155,8 +155,10 @@ double PIDController::Calculate(double measurement, double setpoint) {
 }
 
 void PIDController::Reset() {
+  m_positionError = 0;
   m_prevError = 0;
   m_totalError = 0;
+  m_velocityError = 0;
 }
 
 void PIDController::InitSendable(wpi::SendableBuilder& builder) {