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 e0b2bd4713a..364140134a1 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
@@ -586,11 +586,10 @@ public WrapperCommand withName(String name) {
    * one or more requirements with a command
    * that will be added to it.
    *
-   * @param parallelGroup The parallel group command.
    * @param toAdd The command that will be added to the parallel group.
    */
-  protected void ensureDisjointRequirements(Command parallelGroup, Command toAdd) {
-    var sharedRequirements = new HashSet<>(parallelGroup.getRequirements());
+  protected void ensureDisjointRequirements(Command toAdd) {
+    var sharedRequirements = new HashSet<>(getRequirements());
     sharedRequirements.retainAll(toAdd.getRequirements());
     if (!sharedRequirements.isEmpty()) {
       StringBuilder sharedRequirementsStr = new StringBuilder();
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
index 0199576bd0a..b77f30adcec 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelCommandGroup.java
@@ -50,7 +50,7 @@ public final void addCommands(Command... commands) {
     CommandScheduler.getInstance().registerComposedCommands(commands);
 
     for (Command command : commands) {
-      Commands.ensureDisjointRequirements(this, command);
+      ensureDisjointRequirements(command);
       m_commands.put(command, false);
       addRequirements(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
index 3539e3e5c03..cf923113c64 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
@@ -80,7 +80,7 @@ public final void addCommands(Command... commands) {
     CommandScheduler.getInstance().registerComposedCommands(commands);
 
     for (Command command : commands) {
-      Commands.ensureDisjointRequirements(this, command);
+      ensureDisjointRequirements(command);
       m_commands.put(command, false);
       addRequirements(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
index 238c01ba9e8..becfc20e4fa 100644
--- a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
+++ b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
@@ -51,7 +51,7 @@ public final void addCommands(Command... commands) {
     CommandScheduler.getInstance().registerComposedCommands(commands);
 
     for (Command command : commands) {
-      Commands.ensureDisjointRequirements(this, command);
+      ensureDisjointRequirements(command);
       m_commands.add(command);
       addRequirements(command.getRequirements());
       m_runWhenDisabled &= command.runsWhenDisabled();
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
index 4bb8ddadfb8..d8d6e86a26c 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/Command.cpp
@@ -218,9 +218,7 @@ void Command::InitSendable(wpi::SendableBuilder& builder) {
       "runsWhenDisabled", [this] { return RunsWhenDisabled(); }, nullptr);
 }
 
-namespace frc2 {
-
-void EnsureDisjointRequirements(Command* parallelGroup, Command* toAdd) {
+void EnsureDisjointRequirements(Command* toAdd) {
   std::string sharedRequirementsStr = "";
   bool hasSharedRequirements = false;
   auto&& requirementsToAdd = toAdd->GetRequirements();
@@ -236,12 +234,11 @@ void EnsureDisjointRequirements(Command* parallelGroup, Command* toAdd) {
   }
   if (hasSharedRequirements) {
     throw FRC_MakeError(
-          frc::err::CommandIllegalUse,
-          "Command {} could not be added to this parallel group"
-          " because the subsystems [{}] are already required in this command."
-          " Multiple commands in a parallel composition cannot require the "
-          "same subsystems.",
-          toAdd->GetName(), sharedRequirementsStr);
+      frc::err::CommandIllegalUse,
+      "Command {} could not be added to this Parallel Group"
+      " because the subsystems [{}] are already required in this command."
+      " Multiple commands in a parallel composition cannot require the "
+      "same subsystems.",
+      command->GetName(), sharedRequirementsStr);
   }
 }
-}  // namespace frc2
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
index 0c00b158574..72458ccb71d 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelCommandGroup.cpp
@@ -76,7 +76,7 @@ void ParallelCommandGroup::AddCommands(
   }
 
   for (auto&& command : commands) {
-    EnsureDisjointRequirements(this, command.get());
+    EnsureDisjointRequirements(command.get());
     command->SetComposed(true);
     AddRequirements(command->GetRequirements());
     m_runWhenDisabled &= command->RunsWhenDisabled();
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
index 75bcfaea4dd..b4c217306c8 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelDeadlineGroup.cpp
@@ -76,7 +76,7 @@ void ParallelDeadlineGroup::AddCommands(
   }
 
   for (auto&& command : commands) {
-    EnsureDisjointRequirements(this, command.get());
+    EnsureDisjointRequirements(command.get());
     command->SetComposed(true);
     AddRequirements(command->GetRequirements());
     m_runWhenDisabled &= command->RunsWhenDisabled();
diff --git a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
index 9ef5083d5c9..f6413feb28d 100644
--- a/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
+++ b/wpilibNewCommands/src/main/native/cpp/frc2/command/ParallelRaceGroup.cpp
@@ -63,7 +63,7 @@ void ParallelRaceGroup::AddCommands(
   }
 
   for (auto&& command : commands) {
-    EnsureDisjointRequirements(this, command.get());
+    EnsureDisjointRequirements(command.get());
     command->SetComposed(true);
     AddRequirements(command->GetRequirements());
     m_runWhenDisabled &= command->RunsWhenDisabled();
diff --git a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
index 21d90fb0c9f..ee3a50898ce 100644
--- a/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
+++ b/wpilibNewCommands/src/main/native/include/frc2/command/Command.h
@@ -485,20 +485,19 @@ class Command : public wpi::Sendable, public wpi::SendableHelper<Command> {
  protected:
   Command();
 
+  /**
+   * Throws an error if a parallel group already shares
+   * one or more requirements with a command
+   * that will be added to it.
+   *
+   * @param parallelGroup The parallel group command.
+   * @param toAdd The command that will be added to the parallel group.
+   */
+  void EnsureDisjointRequirements(Command* toAdd);
+
  private:
   /// Requirements set.
   wpi::SmallSet<Subsystem*, 4> m_requirements;
 
   std::optional<std::string> m_previousComposition;
 };
-
-/**
- * Throws an error if a parallel group already shares 
- * one or more requirements with a command 
- * that will be added to it.
- *
- * @param parallelGroup The parallel group command.
- * @param toAdd The command that will be added to the parallel group.
- */
-void EnsureDisjointRequirements(Command* parallelGroup, Command* toAdd);
-}  // namespace frc2