diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
index 8ba81cfb16c..fb2819b4ed1 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
@@ -166,6 +166,21 @@ public static Command either(Command onTrue, Command onFalse, BooleanSupplier se
     return new ConditionalCommand(onTrue, onFalse, selector);
   }
 
+  /**
+   * Runs a command if the boolean condition function is true. Otherwise it does nothing and exits
+   * (but still has the same requirements as the command, interrupting any commands with shared
+   * requirements).
+   *
+   * @param condition the condition function
+   * @param onTrue the command to run if the condition function returns true
+   * @return the command
+   * @see ConditionalCommand
+   * @see Commands#none()
+   */
+  public static Command runIf(BooleanSupplier condition, Command onTrue) {
+    return onTrue.onlyIf(condition);
+  }
+
   /**
    * Runs one of several commands, based on the selector function.
    *