diff --git a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
index 90c5cd973f..0f4c65ec88 100644
--- a/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
+++ b/wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.h
@@ -107,22 +107,6 @@ class TrapezoidProfile {
   TrapezoidProfile(TrapezoidProfile&&) = default;
   TrapezoidProfile& operator=(TrapezoidProfile&&) = default;
 
-  /**
-   * Calculates the position and velocity for the profile at a time t where the
-   * current state is at time t = 0.
-   *
-   * @param t How long to advance from the current state toward the desired
-   *     state.
-   * @return The position and velocity of the profile at time t.
-   * @deprecated Pass the desired and current state into calculate instead of
-   * constructing a new TrapezoidProfile with the desired and current state
-   */
-  [[deprecated(
-      "Pass the desired and current state into calculate instead of "
-      "constructing a new TrapezoidProfile with the desired and current "
-      "state")]]
-  State Calculate(units::second_t t) const;
-
   /**
    * Calculates the position and velocity for the profile at a time t where the
    * current state is at time t = 0.