diff --git a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
index 7a568c8613..c26270fa49 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/filter/LinearFilter.java
@@ -246,6 +246,43 @@ public class LinearFilter {
     m_outputs.clear();
   }
 
+  /**
+   * Resets the filter state, initializing internal buffers to the provided values.
+   *
+   * <p>These are the expected lengths of the buffers, depending on what type of linear filter used:
+   *
+   * <table>
+   * <tr><th>Type</th><th>Input Buffer Length</th><th>Output Buffer Length</th></tr>
+   * <tr><td>Unspecified</td><td>length of {@code ffGains}</td><td>length of {@code fbGains}</td>
+   * </tr>
+   * <tr><td>Single Pole IIR</td><td>1</td><td>1</td></tr>
+   * <tr><td>High-Pass</td><td>2</td><td>1</td></tr>
+   * <tr><td>Moving Average</td><td>{@code taps}</td><td>0</td></tr>
+   * <tr><td>Finite Difference</td><td>length of {@code stencil}</td><td>0</td></tr>
+   * <tr><td>Backward Finite Difference</td><td>{@code samples}</td><td>0</td></tr>
+   * </table>
+   *
+   * @param inputBuffer Values to initialize input buffer.
+   * @param outputBuffer Values to initialize output buffer.
+   * @throws IllegalArgumentException if length of inputBuffer or outputBuffer does not match the
+   *     length of ffGains and fbGains provided in the constructor.
+   */
+  public void reset(double[] inputBuffer, double[] outputBuffer) {
+    // Clear buffers
+    reset();
+
+    if (inputBuffer.length != m_inputGains.length || outputBuffer.length != m_outputGains.length) {
+      throw new IllegalArgumentException("Incorrect length of inputBuffer or outputBuffer");
+    }
+
+    for (double input : inputBuffer) {
+      m_inputs.addFirst(input);
+    }
+    for (double output : outputBuffer) {
+      m_outputs.addFirst(output);
+    }
+  }
+
   /**
    * Calculates the next value of the filter.
    *
diff --git a/wpimath/src/main/native/include/frc/filter/LinearFilter.h b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
index fc558dfd58..051a6ddd26 100644
--- a/wpimath/src/main/native/include/frc/filter/LinearFilter.h
+++ b/wpimath/src/main/native/include/frc/filter/LinearFilter.h
@@ -271,6 +271,75 @@ class LinearFilter {
     std::fill(m_outputs.begin(), m_outputs.end(), T{0.0});
   }
 
+  /**
+   * Resets the filter state, initializing internal buffers to the provided
+   * values.
+   *
+   * These are the expected lengths of the buffers, depending on what type of
+   * linear filter used:
+   *
+   * <table>
+   *   <tr>
+   *     <th>Type</th>
+   *     <th>Input Buffer Size</th>
+   *     <th>Output Buffer Size</th>
+   *   </tr>
+   *   <tr>
+   *     <td>Unspecified</td>
+   *     <td>size of {@code ffGains}</td>
+   *     <td>size of {@code fbGains}</td>
+   *   </tr>
+   *   <tr>
+   *     <td>Single Pole IIR</td>
+   *     <td>1</td>
+   *     <td>1</td>
+   *   </tr>
+   *   <tr>
+   *     <td>High-Pass</td>
+   *     <td>2</td>
+   *     <td>1</td>
+   *   </tr>
+   *   <tr>
+   *     <td>Moving Average</td>
+   *     <td>{@code taps}</td>
+   *     <td>0</td>
+   *   </tr>
+   *   <tr>
+   *     <td>Finite Difference</td>
+   *     <td>size of {@code stencil}</td>
+   *     <td>0</td>
+   *   </tr>
+   *   <tr>
+   *     <td>Backward Finite Difference</td>
+   *     <td>{@code Samples}</td>
+   *     <td>0</td>
+   *   </tr>
+   * </table>
+   *
+   * @param inputBuffer Values to initialize input buffer.
+   * @param outputBuffer Values to initialize output buffer.
+   * @throws std::runtime_error if size of inputBuffer or outputBuffer does not
+   *   match the size of ffGains and fbGains provided in the constructor.
+   */
+  void Reset(std::span<const double> inputBuffer,
+             std::span<const double> outputBuffer) {
+    // Clear buffers
+    Reset();
+
+    if (inputBuffer.size() != m_inputGains.size() ||
+        outputBuffer.size() != m_outputGains.size()) {
+      throw std::runtime_error(
+          "Incorrect length of inputBuffer or outputBuffer");
+    }
+
+    for (size_t i = 0; i < inputBuffer.size(); ++i) {
+      m_inputs.push_front(inputBuffer[i]);
+    }
+    for (size_t i = 0; i < outputBuffer.size(); ++i) {
+      m_outputs.push_front(outputBuffer[i]);
+    }
+  }
+
   /**
    * Calculates the next value of the filter.
    *