diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
index 5987149fe1..1f09ef53fc 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -288,7 +288,7 @@ public interface Command {
    *
    * @return the decorated command
    */
-  default RepeatCommand repeat() {
+  default RepeatCommand repeatedly() {
     return new RepeatCommand(this);
   }
 
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java
index f228fa7fa1..5b17d63d19 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RepeatCommand.java
@@ -64,7 +64,7 @@ public class RepeatCommand extends CommandBase {
   }
 
   @Override
-  public RepeatCommand repeat() {
+  public RepeatCommand repeatedly() {
     return this;
   }
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
index cc62d4be39..4104ef8ae6 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -116,7 +116,7 @@ EndlessCommand Command::Endlessly() && {
   return EndlessCommand(std::move(*this).TransferOwnership());
 }
 
-RepeatCommand Command::Repeat() && {
+RepeatCommand Command::Repeatedly() && {
   return RepeatCommand(std::move(*this).TransferOwnership());
 }
 
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
index 023ccb157f..c889fd59b4 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RepeatCommand.cpp
@@ -40,6 +40,6 @@ bool RepeatCommand::RunsWhenDisabled() const {
   return m_command->RunsWhenDisabled();
 }
 
-RepeatCommand RepeatCommand::Repeat() && {
+RepeatCommand RepeatCommand::Repeatedly() && {
   return std::move(*this);
 }
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
index 8eaef41b34..9256f03e49 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -206,7 +206,7 @@ class Command {
    *
    * @return the decorated command
    */
-  virtual RepeatCommand Repeat() &&;
+  virtual RepeatCommand Repeatedly() &&;
 
   /**
    * Decorates this command to run "by proxy" by wrapping it in a
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
index 1d9a1f55cc..8d1b3b1678 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/RepeatCommand.h
@@ -69,7 +69,7 @@ class RepeatCommand : public CommandHelper<CommandBase, RepeatCommand> {
 
   bool RunsWhenDisabled() const override;
 
-  RepeatCommand Repeat() && override;
+  RepeatCommand Repeatedly() && override;
 
  private:
   std::unique_ptr<Command> m_command;
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RepeatCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RepeatCommandTest.java
index 7c4d416430..a04d96c251 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RepeatCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/RepeatCommandTest.java
@@ -26,15 +26,15 @@ class RepeatCommandTest {
     var isFinishedHook = new AtomicBoolean(false);
 
     final var command =
-        new RepeatCommand(
-            new FunctionalCommand(
+        new FunctionalCommand(
                 initCounter::incrementAndGet,
                 exeCounter::incrementAndGet,
                 interrupted -> endCounter.incrementAndGet(),
                 () -> {
                   isFinishedCounter.incrementAndGet();
                   return isFinishedHook.get();
-                }));
+                })
+            .repeatedly();
 
     assertEquals(0, initCounter.get());
     assertEquals(0, exeCounter.get());
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/RepeatCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/RepeatCommandTest.cpp
index 8d1f4845bd..0ec5bc806b 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/RepeatCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/RepeatCommandTest.cpp
@@ -26,7 +26,7 @@ TEST_F(RepeatCommandTest, CallsMethodsCorrectly) {
                           isFinishedCounter++;
                           return isFinishedHook;
                         })
-          .Repeat();
+          .Repeatedly();
 
   EXPECT_EQ(0, initCounter);
   EXPECT_EQ(0, exeCounter);