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 c6a2b4c6bf..556dffa606 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
@@ -138,7 +138,7 @@ public class RamseteCommand extends CommandBase {
 
   @Override
   public void initialize() {
-    m_prevTime = 0;
+    m_prevTime = -1;
     var initialState = m_trajectory.sample(0);
     m_prevSpeeds = m_kinematics.toWheelSpeeds(
         new ChassisSpeeds(initialState.velocityMetersPerSecond,
@@ -158,6 +158,12 @@ public class RamseteCommand extends CommandBase {
     double curTime = m_timer.get();
     double dt = curTime - m_prevTime;
 
+    if (m_prevTime < 0) {
+      m_output.accept(0.0, 0.0);
+      m_prevTime = curTime;
+      return;
+    }
+
     var targetWheelSpeeds = m_kinematics.toWheelSpeeds(
         m_follower.calculate(m_pose.get(), m_trajectory.sample(curTime)));
 
@@ -189,9 +195,8 @@ public class RamseteCommand extends CommandBase {
     }
 
     m_output.accept(leftOutput, rightOutput);
-
-    m_prevTime = curTime;
     m_prevSpeeds = targetWheelSpeeds;
+    m_prevTime = curTime;
   }
 
   @Override
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
index e2c56aba12..7b467a8b70 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/RamseteCommand.cpp
@@ -87,7 +87,7 @@ RamseteCommand::RamseteCommand(
 }
 
 void RamseteCommand::Initialize() {
-  m_prevTime = 0_s;
+  m_prevTime = -1_s;
   auto initialState = m_trajectory.Sample(0_s);
   m_prevSpeeds = m_kinematics.ToWheelSpeeds(
       frc::ChassisSpeeds{initialState.velocity, 0_mps,
@@ -104,6 +104,16 @@ void RamseteCommand::Execute() {
   auto curTime = m_timer.Get();
   auto dt = curTime - m_prevTime;
 
+  if (m_prevTime < 0_s) {
+    if (m_usePID)
+      m_outputVolts(0_V, 0_V);
+    else
+      m_outputVel(0_mps, 0_mps);
+
+    m_prevTime = curTime;
+    return;
+  }
+
   auto targetWheelSpeeds = m_kinematics.ToWheelSpeeds(
       m_controller.Calculate(m_pose(), m_trajectory.Sample(curTime)));
 
@@ -130,9 +140,8 @@ void RamseteCommand::Execute() {
   } else {
     m_outputVel(targetWheelSpeeds.left, targetWheelSpeeds.right);
   }
-
-  m_prevTime = curTime;
   m_prevSpeeds = targetWheelSpeeds;
+  m_prevTime = curTime;
 }
 
 void RamseteCommand::End(bool interrupted) { m_timer.Stop(); }