diff --git a/commands2/pidcommand.py b/commands2/pidcommand.py
new file mode 100644
index 00000000..339764c0
--- /dev/null
+++ b/commands2/pidcommand.py
@@ -0,0 +1,74 @@
+# Copyright (c) FIRST and other WPILib contributors.
+# Open Source Software; you can modify and/or share it under the terms of
+# the WPILib BSD license file in the root directory of this project.
+from __future__ import annotations
+
+from typing import Any, Callable, Union
+
+from .command import Command
+from .subsystem import Subsystem
+
+from wpimath.controller import PIDController
+
+
+class PIDCommand(Command):
+    """
+    A command that controls an output with a PIDController. Runs forever by default - to add
+    exit conditions and/or other behavior, subclass this class. The controller calculation and output
+    are performed synchronously in the command's execute() method.
+    """
+
+    def __init__(
+        self,
+        controller: PIDController,
+        measurementSource: Callable[[], float],
+        setpoint: Union[Callable[[], float], float, int],
+        useOutput: Callable[[float], Any],
+        *requirements: Subsystem,
+    ):
+        """
+        Creates a new PIDCommand, which controls the given output with a PIDController.
+
+        :param controller: the controller that controls the output.
+        :param measurementSource: the measurement of the process variable
+        :param setpoint: the controller's setpoint (either a function that returns a)
+                         number or a number
+        :param useOutput: the controller's output
+        :param requirements: the subsystems required by this command
+        """
+        super().__init__()
+
+        self._controller = controller
+        self._useOutput = useOutput
+        self._measurement = measurementSource
+
+        if isinstance(setpoint, (float, int)):
+            setpoint = float(setpoint)
+            self._setpoint = lambda: setpoint
+        elif callable(setpoint):
+            self._setpoint = setpoint
+        else:
+            raise ValueError(
+                f"invalid setpoint (must be callable or number; got {type(setpoint)})"
+            )
+
+        self.addRequirements(*requirements)
+
+    def initialize(self):
+        self._controller.reset()
+
+    def execute(self):
+        self._useOutput(
+            self._controller.calculate(self._measurement(), self._setpoint())
+        )
+
+    def end(self, interrupted):
+        self._useOutput(0)
+
+    def getController(self):
+        """
+        Returns the PIDController used by the command.
+
+        :return: The PIDController
+        """
+        return self._controller