diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index a7069d8..44505c5 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -189,6 +189,9 @@ private void configureMidiBindings() {
   }
 
   public Command getAutonomousCommand() {
-    return autoChooser.getSelected().andThen(() -> driveSubsystem.drive(0, 0, 0));
+    return autoChooser
+        .getSelected()
+        .andThen(() -> driveSubsystem.drive(0, 0, 0))
+        .beforeStarting(armSubsystem.runOnce(armSubsystem::resetEncoder));
   }
 }