diff --git a/hal/src/main/native/sim/Encoder.cpp b/hal/src/main/native/sim/Encoder.cpp
index 32416f0d7a..3f4e487fcf 100644
--- a/hal/src/main/native/sim/Encoder.cpp
+++ b/hal/src/main/native/sim/Encoder.cpp
@@ -174,9 +174,9 @@ void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status) {
     return;
   }
 
+  SimEncoderData[encoder->index].reset = true;
   SimEncoderData[encoder->index].count = 0;
   SimEncoderData[encoder->index].period = std::numeric_limits<double>::max();
-  SimEncoderData[encoder->index].reset = true;
 }
 double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status) {
   auto encoder = encoderHandles->Get(encoderHandle);
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp
index 58d47d06a2..8f7e8e77e2 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_Encoder.cpp
@@ -49,9 +49,27 @@ void HALSimWSProviderEncoder::RegisterCallbacks() {
         provider->ProcessHalCallback(payload);
       },
       this, true);
-  m_countCbKey = REGISTER(Count, ">count", int32_t, int);
+  m_countCbKey = HALSIM_RegisterEncoderCountCallback(
+      m_channel,
+      [](const char* name, void* param, const struct HAL_Value* value) {
+        auto provider = static_cast<HALSimWSProviderEncoder*>(param);
+        provider->ProcessHalCallback(
+            {{">count", static_cast<int32_t>(value->data.v_int +
+                                             provider->m_countOffset)}});
+      },
+      this, true);
   m_periodCbKey = REGISTER(Period, ">period", double, double);
-  m_resetCbKey = REGISTER(Reset, "<reset", bool, boolean);
+  m_resetCbKey = HALSIM_RegisterEncoderResetCallback(
+      m_channel,
+      [](const char* name, void* param, const struct HAL_Value* value) {
+        auto provider = static_cast<HALSimWSProviderEncoder*>(param);
+        bool reset = static_cast<bool>(value->data.v_boolean);
+        if (reset) {
+          provider->m_countOffset +=
+              HALSIM_GetEncoderCount(provider->m_channel);
+        }
+      },
+      this, true);
   m_reverseDirectionCbKey =
       REGISTER(ReverseDirection, "<reverse_direction", bool, boolean);
   m_samplesCbKey = REGISTER(SamplesToAverage, "<samples_to_avg", int32_t, int);
@@ -79,7 +97,8 @@ void HALSimWSProviderEncoder::DoCancelCallbacks() {
 void HALSimWSProviderEncoder::OnNetValueChanged(const wpi::json& json) {
   wpi::json::const_iterator it;
   if ((it = json.find(">count")) != json.end()) {
-    HALSIM_SetEncoderCount(m_channel, it.value());
+    HALSIM_SetEncoderCount(m_channel,
+                           static_cast<int32_t>(it.value()) - m_countOffset);
   }
   if ((it = json.find(">period")) != json.end()) {
     HALSIM_SetEncoderPeriod(m_channel, it.value());
diff --git a/simulation/halsim_ws_core/src/main/native/include/WSProvider_Encoder.h b/simulation/halsim_ws_core/src/main/native/include/WSProvider_Encoder.h
index 882e447da6..b5728c0b9d 100644
--- a/simulation/halsim_ws_core/src/main/native/include/WSProvider_Encoder.h
+++ b/simulation/halsim_ws_core/src/main/native/include/WSProvider_Encoder.h
@@ -34,6 +34,8 @@ class HALSimWSProviderEncoder : public HALSimWSHalChanProvider {
   int32_t m_resetCbKey = 0;
   int32_t m_reverseDirectionCbKey = 0;
   int32_t m_samplesCbKey = 0;
+
+  int32_t m_countOffset = 0;
 };
 
 }  // namespace wpilibws