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 a53d792d0e4..ed934b39c3e 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
@@ -398,6 +398,28 @@ public ProxyCommand asProxy() {
     return new ProxyCommand(this);
   }
 
+  /**
+   * Decorates this command to run "forked" by wrapping it in a {@link ScheduleCommand}. Use this
+   * for "forking off" from command compositions when the user does not wish to extend the command's
+   * requirements to the entire command composition. Note that if run from a composition, the
+   * composition will not know about the status of the scheduled commands, and will treat this
+   * command as finishing instantly. Commands can be added to this and will be scheduled in order
+   * with this command scheduled first.
+   *
+   * @param other other commands to schedule along with this one. This command is scheduled first.
+   * @return the decorated command
+   * @see ScheduleCommand
+   * @see <a
+   *     href="https://docs.wpilib.org/en/stable/docs/software/commandbased/command-compositions.html#scheduling-other-commands">WPILib
+   *     docs</a>
+   */
+  public ScheduleCommand fork(Command... other) {
+    Command[] commands = new Command[1 + other.length];
+    commands[0] = this;
+    System.arraycopy(other, 0, commands, 1, other.length);
+    return new ScheduleCommand(commands);
+  }
+
   /**
    * Decorates this command to only run if this condition is not met. If the command is already
    * running and the condition changes to true, the command will not stop running. The requirements
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
index 298cc2e50ca..4d48c5706b9 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
@@ -18,6 +18,7 @@
 #include "frc2/command/ParallelRaceGroup.h"
 #include "frc2/command/ProxyCommand.h"
 #include "frc2/command/RepeatCommand.h"
+#include "frc2/command/ScheduleCommand.h"
 #include "frc2/command/SequentialCommandGroup.h"
 #include "frc2/command/WaitCommand.h"
 #include "frc2/command/WaitUntilCommand.h"