diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
index fadff92261..423d88ea14 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/button/CommandGenericHID.java
@@ -252,4 +252,24 @@ public class CommandGenericHID {
   public double getRawAxis(int axis) {
     return m_hid.getRawAxis(axis);
   }
+
+  /**
+   * Set the rumble output for the HID. The DS currently supports 2 rumble values, left rumble and
+   * right rumble.
+   *
+   * @param type Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  public void setRumble(GenericHID.RumbleType type, double value) {
+    m_hid.setRumble(type, value);
+  }
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  public boolean isConnected() {
+    return m_hid.isConnected();
+  }
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
index b7f1d5a28a..cfe12cd25d 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/button/CommandGenericHID.cpp
@@ -74,3 +74,12 @@ Trigger CommandGenericHID::AxisGreaterThan(int axis, double threshold,
     return m_hid.GetRawAxis(axis) > threshold;
   });
 }
+
+void CommandGenericHID::SetRumble(frc::GenericHID::RumbleType type,
+                                  double value) {
+  m_hid.SetRumble(type, value);
+}
+
+bool CommandGenericHID::IsConnected() const {
+  return m_hid.IsConnected();
+}
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
index 56fb377f1d..563a4b2b5c 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/button/CommandGenericHID.h
@@ -230,6 +230,23 @@ class CommandGenericHID {
       frc::EventLoop* loop =
           CommandScheduler::GetInstance().GetDefaultButtonLoop()) const;
 
+  /**
+   * Set the rumble output for the HID.
+   *
+   * The DS currently supports 2 rumble values, left rumble and right rumble.
+   *
+   * @param type  Which rumble value to set
+   * @param value The normalized value (0 to 1) to set the rumble to
+   */
+  void SetRumble(frc::GenericHID::RumbleType type, double value);
+
+  /**
+   * Get if the HID is connected.
+   *
+   * @return true if the HID is connected
+   */
+  bool IsConnected() const;
+
  private:
   frc::GenericHID m_hid;
 };