diff --git a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
index 13e830678e6..d367607aecc 100644
--- a/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/RamseteCommand/cpp/subsystems/DriveSubsystem.cpp
@@ -91,7 +91,6 @@ frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
 }
 
 void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
-  ResetEncoders();
   m_odometry.ResetPosition(m_gyro.GetRotation2d(),
                            units::meter_t{m_leftEncoder.GetDistance()},
                            units::meter_t{m_rightEncoder.GetDistance()}, pose);
diff --git a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
index e0b63cabe49..603facaa2f0 100644
--- a/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/SimpleDifferentialDriveSimulation/cpp/Drivetrain.cpp
@@ -30,8 +30,6 @@ void Drivetrain::UpdateOdometry() {
 }
 
 void Drivetrain::ResetOdometry(const frc::Pose2d& pose) {
-  m_leftEncoder.Reset();
-  m_rightEncoder.Reset();
   m_drivetrainSimulator.SetPose(pose);
   m_odometry.ResetPosition(m_gyro.GetRotation2d(),
                            units::meter_t{m_leftEncoder.GetDistance()},
diff --git a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
index ecef64ad82f..721481db297 100644
--- a/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
+++ b/wpilibcExamples/src/main/cpp/examples/StateSpaceDifferentialDriveSimulation/cpp/subsystems/DriveSubsystem.cpp
@@ -112,7 +112,6 @@ frc::DifferentialDriveWheelSpeeds DriveSubsystem::GetWheelSpeeds() {
 }
 
 void DriveSubsystem::ResetOdometry(frc::Pose2d pose) {
-  ResetEncoders();
   m_drivetrainSimulator.SetPose(pose);
   m_odometry.ResetPosition(m_gyro.GetRotation2d(),
                            units::meter_t{m_leftEncoder.GetDistance()},
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
index f2b08406f40..a59c139a538 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/ramsetecommand/subsystems/DriveSubsystem.java
@@ -102,7 +102,6 @@ public DifferentialDriveWheelSpeeds getWheelSpeeds() {
    * @param pose The pose to which to set the odometry.
    */
   public void resetOdometry(Pose2d pose) {
-    resetEncoders();
     m_odometry.resetPosition(
         m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance(), pose);
   }
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
index fcae9283815..a69839bc7e7 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/simpledifferentialdrivesimulation/Drivetrain.java
@@ -123,8 +123,6 @@ public void updateOdometry() {
 
   /** Resets robot odometry. */
   public void resetOdometry(Pose2d pose) {
-    m_leftEncoder.reset();
-    m_rightEncoder.reset();
     m_drivetrainSimulator.setPose(pose);
     m_odometry.resetPosition(
         m_gyro.getRotation2d(), m_leftEncoder.getDistance(), m_rightEncoder.getDistance(), pose);
diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
index 79c871cbb45..01360f2fb2e 100644
--- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
+++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/statespacedifferentialdrivesimulation/subsystems/DriveSubsystem.java
@@ -179,7 +179,6 @@ public DifferentialDriveWheelSpeeds getWheelSpeeds() {
    * @param pose The pose to which to set the odometry.
    */
   public void resetOdometry(Pose2d pose) {
-    resetEncoders();
     m_drivetrainSimulator.setPose(pose);
     m_odometry.resetPosition(
         Rotation2d.fromDegrees(getHeading()),