diff --git a/commandsv3/src/main/java/org/wpilib/command3/Trigger.java b/commandsv3/src/main/java/org/wpilib/command3/Trigger.java
index 1c6da4f9505..c5c543f7f53 100644
--- a/commandsv3/src/main/java/org/wpilib/command3/Trigger.java
+++ b/commandsv3/src/main/java/org/wpilib/command3/Trigger.java
@@ -115,6 +115,19 @@ public Trigger(Scheduler scheduler, EventLoop loop, BooleanSupplier condition) {
     m_loop.bind(m_eventLoopCallback);
   }
 
+  /**
+   * Starts the command when the condition changes.
+   *
+   * @param command the command to start
+   * @return this trigger, so calls can be chained
+   */
+  public Trigger onChange(Command command) {
+    requireNonNullParam(command, "command", "onChange");
+    addBinding(BindingType.SCHEDULE_ON_RISING_EDGE, command);
+    addBinding(BindingType.SCHEDULE_ON_FALLING_EDGE, command);
+    return this;
+  }
+
   /**
    * Starts the given command whenever the condition changes from `false` to `true`.
    *