diff --git a/wpimath/src/main/java/edu/wpi/first/math/util/Units.java b/wpimath/src/main/java/edu/wpi/first/math/util/Units.java
index ce2b38eacb..8c75dec626 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/util/Units.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/util/Units.java
@@ -8,7 +8,9 @@ package edu.wpi.first.math.util;
 public final class Units {
   private static final double kInchesPerFoot = 12.0;
   private static final double kMetersPerInch = 0.0254;
+  private static final double kMetersPerMile = 1609.344;
   private static final double kSecondsPerMinute = 60;
+  private static final double kMinutesPerHour = 60;
   private static final double kMillisecondsPerSecond = 1000;
   private static final double kKilogramsPerLb = 0.453592;
 
@@ -137,6 +139,26 @@ public final class Units {
     return radiansPerSecond * (kSecondsPerMinute / 2) / Math.PI;
   }
 
+  /**
+   * Converts miles per hour to meters per second.
+   *
+   * @param mph The miles per hour to convert to meters per second.
+   * @return Meters per second converted from miles per hour.
+   */
+  public static double milesPerHourToMetersPerSecond(double mph) {
+    return mph * kMetersPerMile / (kSecondsPerMinute * kMinutesPerHour);
+  }
+
+  /**
+   * Converts meters per second to miles per hour.
+   *
+   * @param metersPerSecond The meters per second to convert to from miles per hour.
+   * @return Miles per hour converted from meters per second.
+   */
+  public static double metersPerSecondToMilesPerHour(double metersPerSecond) {
+    return metersPerSecond / kMetersPerMile * (kSecondsPerMinute * kMinutesPerHour);
+  }
+
   /**
    * Converts given milliseconds to seconds.
    *
diff --git a/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java b/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java
index 06c2bc7e8c..bade348768 100644
--- a/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java
+++ b/wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java
@@ -50,17 +50,27 @@ class UnitsTest extends UtilityClassTest<Units> {
   }
 
   @Test
-  void radiansPerSecondToRotationsPerMinute() {
+  void radiansPerSecondToRotationsPerMinuteTest() {
     assertEquals(76.39, Units.radiansPerSecondToRotationsPerMinute(8), 1e-2);
   }
 
   @Test
-  void millisecondsToSeconds() {
+  void milesPerHourToMetersPerSecondTest() {
+    assertEquals(0.44704, Units.milesPerHourToMetersPerSecond(1), 1e-2);
+  }
+
+  @Test
+  void metersPerSecondToMilesPerHourTest() {
+    assertEquals(2.2369, Units.metersPerSecondToMilesPerHour(1), 1e-2);
+  }
+
+  @Test
+  void millisecondsToSecondsTest() {
     assertEquals(0.5, Units.millisecondsToSeconds(500), 1e-2);
   }
 
   @Test
-  void secondsToMilliseconds() {
+  void secondsToMillisecondsTest() {
     assertEquals(1500, Units.secondsToMilliseconds(1.5), 1e-2);
   }