diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
index 5c1b5074dbd..7c5f7abf71f 100644
--- a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
+++ b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandDecoratorTest.java
@@ -450,13 +450,15 @@ void repeatForTest() {
       Command group = command.repeatedly(3);
 
       scheduler.schedule(group);
-      for (int i = 0;
-          scheduler.isScheduled(group);
-          i++) { // If this causes an infinite loop, repeatedly is cooked
+      assertEquals(1, counter.get());
+      for (int i = 1; i < 3; i++) {
         scheduler.run();
-        assertEquals(i + 1, counter.get());
+        assertEquals(i, counter.get());
+        assertTrue(scheduler.isScheduled(group), "Expected group to be scheduled with i = " + i);
       }
-      assertEquals(3, counter.get());
+      scheduler.run();
+      assertEquals(3, counter.get(), "Loop should have run 3 times something went wrong");
+      assertFalse(scheduler.isScheduled(group), "This command should have gotten unscheduled");
     }
   }
 
diff --git a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
index edfa7cf9706..5355c2e99ac 100644
--- a/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
+++ b/wpilibNewCommands/src/test/native/cpp/frc2/command/CommandDecoratorTest.cpp
@@ -408,12 +408,16 @@ TEST_F(CommandDecoratorTest, RepeatFor) {
   auto command = InstantCommand([&counter] { counter++; }, {}).Repeatedly(3);
 
   scheduler.Schedule(command);
-  for (int i = 0; scheduler.IsScheduled(command); i++) {
+  EXPECT_TRUE(scheduler.IsScheduled(command));
+  for (int i = 1; i < 3; i++) {
     scheduler.Run();
-    EXPECT_EQ(i + 1, counter);
+    EXPECT_EQ(i, counter);
+    EXPECT_TRUE(scheduler.IsScheduled(command));
   }
 
+  scheduler.Run();
   EXPECT_EQ(3, counter);
+  EXPECT_FALSE(scheduler.IsScheduled(command));
 }
 
 TEST_F(CommandDecoratorTest, Unless) {