diff --git a/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Command.java b/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Command.java
index d695006ba54..8a3f801fe30 100644
--- a/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Command.java
+++ b/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Command.java
@@ -90,6 +90,14 @@ public interface Command {
    */
   void run(Coroutine coroutine);
 
+  /**
+   * An optional lifecycle hook that can be implemented to execute some code whenever this command
+   * is cancelled before it naturally completes.
+   */
+  default void onCancel() {
+    // NOP by default
+  }
+
   /**
    * The name of the command.
    *
diff --git a/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/CommandBuilder.java b/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/CommandBuilder.java
index 9822a69f834..5d171a19bb9 100644
--- a/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/CommandBuilder.java
+++ b/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/CommandBuilder.java
@@ -10,6 +10,7 @@
 public class CommandBuilder {
   private final Set<RequireableResource> requirements = new HashSet<>();
   private Consumer<Coroutine> impl;
+  private Runnable onCancel = () -> {};
   private String name;
   private int priority = Command.DEFAULT_PRIORITY;
   private Command.RobotDisabledBehavior disabledBehavior =
@@ -68,6 +69,11 @@ public CommandBuilder executing(Consumer<Coroutine> impl) {
     return this;
   }
 
+  public CommandBuilder whenCanceled(Runnable onCancel) {
+    this.onCancel = onCancel;
+    return this;
+  }
+
   public Command make() {
     Objects.requireNonNull(name, "Name was not specified");
     Objects.requireNonNull(impl, "Command logic was not specified");
@@ -78,6 +84,11 @@ public void run(Coroutine coroutine) {
         impl.accept(coroutine);
       }
 
+      @Override
+      public void onCancel() {
+        onCancel.run();
+      }
+
       @Override
       public String name() {
         return name;
diff --git a/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Scheduler.java b/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Scheduler.java
index f969edd2130..c224998ddf6 100644
--- a/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Scheduler.java
+++ b/commandsv3/src/main/java/edu/wpi/first/wpilibj/commandsv3/Scheduler.java
@@ -343,6 +343,8 @@ public void cancel(Command command) {
     onDeck.removeIf(state -> state.command() == command);
     suspendedStates.removeIf(state -> state.command() == command);
 
+    command.onCancel();
+
     // Clean up any orphaned child commands; their lifespan must not exceed the parent's
     removeOrphanedChildren(command);
   }
@@ -499,12 +501,7 @@ private void removeOrphanedChildren(Command parent) {
         .stream()
         .filter(e -> e.getValue().parent() == parent)
         .toList() // copy to an intermediate list to avoid concurrent modification
-        .forEach(e -> {
-          commandStates.entrySet().remove(e);
-          suspendedStates.removeIf(s -> s.parent() == e.getKey());
-          onDeck.removeIf(s -> s.parent() == e.getKey());
-          removeOrphanedChildren(e.getKey()); // recursion
-        });
+        .forEach(e -> cancel(e.getKey()));
   }
 
   /**
diff --git a/commandsv3/src/test/java/edu/wpi/first/wpilibj/commandsv3/SchedulerTest.java b/commandsv3/src/test/java/edu/wpi/first/wpilibj/commandsv3/SchedulerTest.java
index 1b121ec0a67..0788722a05c 100644
--- a/commandsv3/src/test/java/edu/wpi/first/wpilibj/commandsv3/SchedulerTest.java
+++ b/commandsv3/src/test/java/edu/wpi/first/wpilibj/commandsv3/SchedulerTest.java
@@ -3,12 +3,11 @@
 import static org.junit.jupiter.api.Assertions.assertEquals;
 import static org.junit.jupiter.api.Assertions.assertFalse;
 import static org.junit.jupiter.api.Assertions.assertInstanceOf;
-import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.junit.jupiter.api.Assertions.assertTrue;
 import static org.junit.jupiter.api.Assertions.fail;
 
 import java.util.ArrayList;
-import java.util.List;
+import java.util.Collections;
 import java.util.Set;
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.concurrent.atomic.AtomicInteger;
@@ -456,6 +455,75 @@ void compositionsCannotAwaitConflictingCommands() {
     }
   }
 
+  @Test
+  void doesNotRunOnCancelWhenInterruptingOnDeck() {
+    var ran = new AtomicBoolean(false);
+
+    var resource = new RequireableResource("The Resource", scheduler);
+    var cmd = resource.run(Coroutine::yield).whenCanceled(() -> ran.set(true)).named("cmd");
+    var interrupter = resource.run(Coroutine::yield).named("Interrupter");
+    scheduler.schedule(cmd);
+    scheduler.schedule(interrupter);
+    scheduler.run();
+
+    assertFalse(ran.get(), "onCancel ran when it shouldn't have!");
+  }
+
+  @Test
+  void doesNotRunOnCancelWhenInterruptingCommand() {
+    var ran = new AtomicBoolean(false);
+
+    var resource = new RequireableResource("The Resource", scheduler);
+    var cmd = resource.run(Coroutine::yield).whenCanceled(() -> ran.set(true)).named("cmd");
+    var interrupter = resource.run(Coroutine::yield).named("Interrupter");
+    scheduler.schedule(cmd);
+    scheduler.run();
+    scheduler.schedule(interrupter);
+
+    assertFalse(ran.get(), "onCancel ran when it shouldn't have!");
+  }
+
+  @Test
+  void doesNotRunOnCancelWhenCompleting() {
+    var ran = new AtomicBoolean(false);
+
+    var resource = new RequireableResource("The Resource", scheduler);
+    var cmd = resource.run(Coroutine::yield).whenCanceled(() -> ran.set(true)).named("cmd");
+    scheduler.schedule(cmd);
+    scheduler.run();
+    scheduler.run();
+
+    assertFalse(scheduler.isScheduledOrRunning(cmd));
+    assertFalse(ran.get(), "onCancel ran when it shouldn't have!");
+  }
+
+  @Test
+  void runsOnCancelWhenCancelling() {
+    var ran = new AtomicBoolean(false);
+
+    var resource = new RequireableResource("The Resource", scheduler);
+    var cmd = resource.run(Coroutine::yield).whenCanceled(() -> ran.set(true)).named("cmd");
+    scheduler.schedule(cmd);
+    scheduler.cancel(cmd);
+
+    assertTrue(ran.get(), "onCancel should have run!");
+  }
+
+  @Test
+  void runsOnCancelWhenCancellingParent() {
+    var ran = new AtomicBoolean(false);
+
+    var resource = new RequireableResource("The Resource", scheduler);
+    var cmd = resource.run(Coroutine::yield).whenCanceled(() -> ran.set(true)).named("cmd");
+
+    var group = new Sequence("Seq", Collections.singletonList(cmd));
+    scheduler.schedule(group);
+    scheduler.run();
+    scheduler.cancel(group);
+
+    assertTrue(ran.get(), "onCancel should have run!");
+  }
+
   record PriorityCommand(int priority, RequireableResource... subsystems) implements Command {
     @Override
     public void run(Coroutine coroutine) {