diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
index f87e9ea4a96..624a132051f 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Command.java
@@ -233,7 +233,7 @@ public ParallelRaceGroup onlyWhile(BooleanSupplier condition) {
   public SequentialCommandGroup after(BooleanSupplier condition) {
     // if we want this to bypass the `WaitUntilCommand` if the condition is already true,
     // we can use a conditional command but it proposes some compositional issues
-    return new SequentialCommandGroup(new WaitUntilCommand(condition), this);
+    return beforeStarting(new WaitUntilCommand(condition));
   }
 
   /**
@@ -249,7 +249,7 @@ public SequentialCommandGroup after(BooleanSupplier condition) {
    * @return the decorated command
    */
   public SequentialCommandGroup afterSeconds(double seconds) {
-    return new SequentialCommandGroup(new WaitCommand(seconds), this);
+    return beforeStarting(new WaitCommand(seconds));
   }
 
   /**
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
index f4515e73553..8ac6accd41a 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
@@ -167,20 +167,12 @@ CommandPtr CommandPtr::OnlyIf(std::function<bool()> condition) && {
 
 CommandPtr CommandPtr::After(std::function<bool()> condition) && {
   AssertValid();
-  std::vector<std::unique_ptr<Command>> temp;
-  temp.emplace_back(std::make_unique<WaitUntilCommand>(std::move(condition)));
-  temp.emplace_back(std::move(m_ptr));
-  m_ptr = std::make_unique<SequentialCommandGroup>(std::move(temp));
-  return std::move(*this);
+  return std::move(*this).BeforeStarting(std::make_unique<WaitUntilCommand>(std::move(condition)));
 }
 
 CommandPtr CommandPtr::AfterTime(units::second_t duration) && {
   AssertValid();
-  std::vector<std::unique_ptr<Command>> temp;
-  temp.emplace_back(std::make_unique<WaitCommand>(duration));
-  temp.emplace_back(std::move(m_ptr));
-  m_ptr = std::make_unique<SequentialCommandGroup>(std::move(temp));
-  return std::move(*this);
+  return std::move(*this).BeforeStarting(std::make_unique<WaitCommand>(duration));
 }
 
 CommandPtr CommandPtr::DeadlineWith(CommandPtr&& parallel) && {