diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
index f6b66685ae..a87486482f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommand.java
@@ -332,8 +332,7 @@ public class MecanumControllerCommand extends CommandBase {
     m_prevSpeeds =
         m_kinematics.toWheelSpeeds(new ChassisSpeeds(initialXVelocity, initialYVelocity, 0.0));
 
-    m_timer.reset();
-    m_timer.start();
+    m_timer.restart();
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
index 69e271b428..94f942fb09 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/RamseteCommand.java
@@ -143,8 +143,7 @@ public class RamseteCommand extends CommandBase {
                 initialState.velocityMetersPerSecond,
                 0,
                 initialState.curvatureRadPerMeter * initialState.velocityMetersPerSecond));
-    m_timer.reset();
-    m_timer.start();
+    m_timer.restart();
     if (m_usePID) {
       m_leftController.reset();
       m_rightController.reset();
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
index 850699e251..5bf82a48e0 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommand.java
@@ -210,8 +210,7 @@ public class SwerveControllerCommand extends CommandBase {
 
   @Override
   public void initialize() {
-    m_timer.reset();
-    m_timer.start();
+    m_timer.restart();
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
index 7c13973e57..231012d758 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/TrapezoidProfileCommand.java
@@ -39,8 +39,7 @@ public class TrapezoidProfileCommand extends CommandBase {
 
   @Override
   public void initialize() {
-    m_timer.reset();
-    m_timer.start();
+    m_timer.restart();
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
index 647e87e7f2..f2f6165e2d 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/WaitCommand.java
@@ -30,8 +30,7 @@ public class WaitCommand extends CommandBase {
 
   @Override
   public void initialize() {
-    m_timer.reset();
-    m_timer.start();
+    m_timer.restart();
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
index d95d59629a..db7276472c 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/MecanumControllerCommand.cpp
@@ -257,8 +257,7 @@ void MecanumControllerCommand::Initialize() {
   m_prevSpeeds = m_kinematics.ToWheelSpeeds(
       frc::ChassisSpeeds{initialXVelocity, initialYVelocity, 0_rad_per_s});
 
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
   if (m_usePID) {
     m_frontLeftController->Reset();
     m_rearLeftController->Reset();
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
index d46cdd0af6..2c9229b55a 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
@@ -92,8 +92,7 @@ void RamseteCommand::Initialize() {
   m_prevSpeeds = m_kinematics.ToWheelSpeeds(
       frc::ChassisSpeeds{initialState.velocity, 0_mps,
                          initialState.velocity * initialState.curvature});
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
   if (m_usePID) {
     m_leftController->Reset();
     m_rightController->Reset();
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
index 94b8b8af02..f0092ed144 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/WaitCommand.cpp
@@ -15,8 +15,7 @@ WaitCommand::WaitCommand(units::second_t duration) : m_duration{duration} {
 }
 
 void WaitCommand::Initialize() {
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
 }
 
 void WaitCommand::End(bool interrupted) {
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc b/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
index a644057dd3..2aeff28046 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc
@@ -150,8 +150,7 @@ void SwerveControllerCommand<NumModules>::Initialize() {
       return m_trajectory.States().back().pose.Rotation();
     };
   }
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
 }
 
 template <size_t NumModules>
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
index 413553bdb3..1d00d668f0 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/TrapezoidProfileCommand.h
@@ -63,10 +63,7 @@ class TrapezoidProfileCommand
     this->AddRequirements(requirements);
   }
 
-  void Initialize() override {
-    m_timer.Reset();
-    m_timer.Start();
-  }
+  void Initialize() override { m_timer.Restart(); }
 
   void Execute() override { m_output(m_profile.Calculate(m_timer.Get())); }
 
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
index b8ccea5ea1..3ca11010c3 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/MecanumControllerCommandTest.java
@@ -118,8 +118,7 @@ class MecanumControllerCommandTest {
             this::setWheelSpeeds,
             subsystem);
 
-    m_timer.reset();
-    m_timer.start();
+    m_timer.restart();
 
     command.initialize();
     while (!command.isFinished()) {
diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
index 1367e51203..9dd03aee33 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
@@ -114,8 +114,7 @@ class SwerveControllerCommandTest {
             this::setModuleStates,
             subsystem);
 
-    m_timer.reset();
-    m_timer.start();
+    m_timer.restart();
 
     command.initialize();
     while (!command.isFinished()) {
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
index 7f5b590c7d..c042203910 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/MecanumControllerCommandTest.cpp
@@ -112,8 +112,7 @@ TEST_F(MecanumControllerCommandTest, ReachesReference) {
       },
       {&subsystem});
 
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
 
   command.Initialize();
   while (!command.IsFinished()) {
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
index 531e9d2bd6..902439fba1 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
@@ -88,8 +88,7 @@ TEST_F(SwerveControllerCommandTest, ReachesReference) {
       m_rotController,
       [&](auto moduleStates) { m_moduleStates = moduleStates; }, {&subsystem});
 
-  m_timer.Reset();
-  m_timer.Start();
+  m_timer.Restart();
 
   command.Initialize();
   while (!command.IsFinished()) {
diff --git a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
index a49d4f65f3..01b7210875 100644
--- a/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/GettingStarted/cpp/Robot.cpp
@@ -19,10 +19,7 @@ class Robot : public frc::TimedRobot {
     m_timer.Start();
   }
 
-  void AutonomousInit() override {
-    m_timer.Reset();
-    m_timer.Start();
-  }
+  void AutonomousInit() override { m_timer.Restart(); }
 
   void AutonomousPeriodic() override {
     // Drive for 2 seconds
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
index 7ea7b091bb..523bb7b343 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Robot.cpp
@@ -22,8 +22,7 @@ class Robot : public frc::TimedRobot {
   void RobotPeriodic() override { m_drive.Periodic(); }
 
   void AutonomousInit() override {
-    m_timer.Reset();
-    m_timer.Start();
+    m_timer.Restart();
     m_drive.ResetOdometry(m_trajectory.InitialPose());
   }
 
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
index 45094fae24..dd337e656a 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gettingstarted/Robot.java
@@ -38,8 +38,7 @@ public class Robot extends TimedRobot {
   /** This function is run once each time the robot enters autonomous mode. */
   @Override
   public void autonomousInit() {
-    m_timer.reset();
-    m_timer.start();
+    m_timer.restart();
   }
 
   /** This function is called periodically during autonomous. */
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
index 1beccce57b..3ad50a4d60 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Robot.java
@@ -47,8 +47,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void autonomousInit() {
-    m_timer.reset();
-    m_timer.start();
+    m_timer.restart();
     m_drive.resetOdometry(m_trajectory.getInitialPose());
   }