diff --git a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
index 5378c4f9b2..d189a4fdf4 100644
--- a/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
+++ b/wpimath/src/main/java/edu/wpi/first/wpilibj/spline/QuinticHermiteSpline.java
@@ -113,7 +113,7 @@ public class QuinticHermiteSpline extends Spline {
               6,
               true,
               new double[] {
-                -06.0, -03.0, -00.5, +06.0, -03.0, +00.5, +15.0, +08.0, +01.5, -15.0, +07.0, +01.0,
+                -06.0, -03.0, -00.5, +06.0, -03.0, +00.5, +15.0, +08.0, +01.5, -15.0, +07.0, -01.0,
                 -10.0, -06.0, -01.5, +10.0, -04.0, +00.5, +00.0, +00.0, +00.5, +00.0, +00.0, +00.0,
                 +00.0, +01.0, +00.0, +00.0, +00.0, +00.0, +01.0, +00.0, +00.0, +00.0, +00.0, +00.0
               });
diff --git a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
index 66f77991a8..05df2fe432 100644
--- a/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
+++ b/wpimath/src/main/native/include/frc/spline/QuinticHermiteSpline.h
@@ -83,7 +83,7 @@ class QuinticHermiteSpline : public Spline<5> {
     // clang-format off
     static const auto basis = (Eigen::Matrix<double, 6, 6>() <<
       -06.0, -03.0, -00.5, +06.0, -03.0, +00.5,
-      +15.0, +08.0, +01.5, -15.0, +07.0, +01.0,
+      +15.0, +08.0, +01.5, -15.0, +07.0, -01.0,
       -10.0, -06.0, -01.5, +10.0, -04.0, +00.5,
       +00.0, +00.0, +00.5, +00.0, +00.0, +00.0,
       +00.0, +01.0, +00.0, +00.0, +00.0, +00.0,