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 635a7aabd74..a913b554e63 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
@@ -423,6 +423,18 @@ public void end(boolean interrupted) {
     };
   }
 
+  /**
+   * Decorates this command with a lambda to call on interrupt or end, following the command's
+   * inherent {@link #end(boolean)} method. The provided lambda will run identically in both
+   * interrupt and end cases.
+   *
+   * @param end a lambda to run when the command ends, whether or not it was interrupted.
+   * @return the decorated command
+   */
+  public WrapperCommand finallyDo(Runnable end) {
+    return finallyDo(interrupted -> end.run());
+  }
+
   /**
    * Decorates this command with a lambda to call on interrupt, following the command's inherent
    * {@link #end(boolean)} method.
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
index 7ea3a1449c6..d228b2679b4 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -123,6 +123,10 @@ CommandPtr Command::FinallyDo(std::function<void(bool)> end) && {
   return std::move(*this).ToPtr().FinallyDo(std::move(end));
 }
 
+CommandPtr Command::FinallyDo(std::function<void()> end) && {
+  return std::move(*this).ToPtr().FinallyDo(std::move(end));
+}
+
 CommandPtr Command::HandleInterrupt(std::function<void(void)> handler) && {
   return std::move(*this).ToPtr().HandleInterrupt(std::move(handler));
 }
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
index 050f95218de..10e6d4e06db 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/CommandPtr.cpp
@@ -203,6 +203,12 @@ CommandPtr CommandPtr::FinallyDo(std::function<void(bool)> end) && {
   return std::move(*this);
 }
 
+CommandPtr CommandPtr::FinallyDo(std::function<void()> end) && {
+  AssertValid();
+  return std::move(*this).FinallyDo(
+      [endHandler = std::move(end)](bool interrupted) { endHandler(); });
+}
+
 CommandPtr CommandPtr::HandleInterrupt(std::function<void(void)> handler) && {
   AssertValid();
   return std::move(*this).FinallyDo(
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
index 414785f2056..9a48b2ecc40 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -318,6 +318,18 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
   [[nodiscard]]
   CommandPtr FinallyDo(std::function<void(bool)> end) &&;
 
+  /**
+   * Decorates this command with a lambda to call on interrupt or end, following
+   * the command's inherent Command::End(bool) method. The provided lambda will
+   * run identically in both interrupt and end cases.
+   *
+   * @param end a lambda to run when the command ends, whether or not it was
+   * interrupted.
+   * @return the decorated command
+   */
+  [[nodiscard]]
+  CommandPtr FinallyDo(std::function<void()> end) &&;
+
   /**
    * Decorates this command with a lambda to call on interrupt, following the
    * command's inherent Command::End(bool) method.
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
index ec21b511922..ae8c11819f4 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/CommandPtr.h
@@ -223,6 +223,18 @@ class CommandPtr final {
   [[nodiscard]]
   CommandPtr FinallyDo(std::function<void(bool)> end) &&;
 
+  /**
+   * Decorates this command with a lambda to call on interrupt or end, following
+   * the command's inherent Command::End(bool) method. The provided lambda will
+   * run identically in both interrupt and end cases.
+   *
+   * @param end a lambda to run when the command ends, whether or not it was
+   * interrupted.
+   * @return the decorated command
+   */
+  [[nodiscard]]
+  CommandPtr FinallyDo(std::function<void()> end) &&;
+
   /**
    * Decorates this command with a lambda to call on interrupt, following the
    * command's inherent Command::End(bool) method.