diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
index 1063cf1..68cfa6d 100644
--- a/src/main/java/frc/robot/Constants.java
+++ b/src/main/java/frc/robot/Constants.java
@@ -124,6 +124,9 @@ public static class Auto {
     /** The amount of time that we want to run the fire note command in auto. */
     public static final double FIRE_NOTE_FOR_TIME = 4.0;
 
+    /** Time in seconds that we delay our taxi in the delayed taxi auto. */
+    public static final double TAXI_DELAY_TIME = 10.0;
+
     /** Constants for the DriveToAmpBlue auto */
     public static class DriveToAmpBlue {
       /** The time for the robot to drive left towards the amp. */
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index e303247..4232d5f 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -31,6 +31,7 @@
 import frc.robot.commands.RunIntake;
 import frc.robot.commands.RunIntakeReverse;
 import frc.robot.commands.StartCamera;
+import frc.robot.commands.auto.DelayedTaxiAuto;
 import frc.robot.commands.auto.DriveToCenterAuto;
 import frc.robot.commands.auto.MoveAwayFromAmp;
 import frc.robot.commands.auto.OnePieceAuto;
@@ -285,6 +286,9 @@ public class RobotContainer {
   /** Singleton instance of {@link TaxiAuto} for the whole robot. */
   public static TaxiAuto taxiAuto = new TaxiAuto();
 
+  /** Singleton instance of {@link DelayedTaxiAuto} for the whole robot. */
+  public static DelayedTaxiAuto delayedTaxiAuto = new DelayedTaxiAuto();
+
   /** Singleton instance of {@link ClearPDPStickyFaults} for the whole robot. */
   public static ClearPDPStickyFaults clearPDPStickyFaults = new ClearPDPStickyFaults();
 
@@ -359,6 +363,8 @@ private void configureAuto() {
 
     autoChooser.addOption("NO INTAKE drive to center", driveToCenterAuto);
 
+    autoChooser.addOption("Taxi with 10 second delay", delayedTaxiAuto);
+
     Shuffleboard.getTab("Driver").add("Choose Auto Routine", autoChooser);
   }
 
diff --git a/src/main/java/frc/robot/commands/auto/DelayedTaxiAuto.java b/src/main/java/frc/robot/commands/auto/DelayedTaxiAuto.java
new file mode 100644
index 0000000..2676f41
--- /dev/null
+++ b/src/main/java/frc/robot/commands/auto/DelayedTaxiAuto.java
@@ -0,0 +1,24 @@
+// 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.
+
+/*
+ * Asimov's Laws:
+ * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm.
+ * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
+ * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
+ */
+
+package frc.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Constants;
+
+/** Taxi auto that waits a bit before it taxis. */
+public class DelayedTaxiAuto extends SequentialCommandGroup {
+  /** Creates a new DelayedTaxiAuto. */
+  public DelayedTaxiAuto() {
+    addCommands(new WaitCommand(Constants.Auto.TAXI_DELAY_TIME), new TaxiAuto());
+  }
+}