diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/CommandUtil.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/CommandUtil.cpp
index 2efe959d..0a23ea92 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/CommandUtil.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/auto/CommandUtil.cpp
@@ -68,7 +68,7 @@ frc2::CommandPtr CommandUtil::pathCommandFromJson(const wpi::json &json,
 
 	if (loadChoreoPaths) {
 		return AutoBuilder::followPathWithEvents(
-				PathPlannerPath::fromChoreoTrajecory(pathName));
+				PathPlannerPath::fromChoreoTrajectory(pathName));
 	} else {
 		return AutoBuilder::followPathWithEvents(
 				PathPlannerPath::fromPathFile(pathName));
diff --git a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
index e627d9ab..853778ae 100644
--- a/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
+++ b/pathplannerlib/src/main/native/cpp/pathplanner/lib/path/PathPlannerPath.cpp
@@ -127,7 +127,7 @@ std::shared_ptr<PathPlannerPath> PathPlannerPath::fromPathFile(
 	return path;
 }
 
-std::shared_ptr<PathPlannerPath> PathPlannerPath::fromChoreoTrajecory(
+std::shared_ptr<PathPlannerPath> PathPlannerPath::fromChoreoTrajectory(
 		std::string trajectoryName) {
 	const std::string filePath = frc::filesystem::GetDeployDirectory()
 			+ "/choreo/" + trajectoryName + ".traj";
diff --git a/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerPath.h b/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerPath.h
index a2ff1976..5c92508d 100644
--- a/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerPath.h
+++ b/pathplannerlib/src/main/native/include/pathplanner/lib/path/PathPlannerPath.h
@@ -88,7 +88,7 @@ class PathPlannerPath: public std::enable_shared_from_this<PathPlannerPath> {
 	 *     of the trajectory. The trajectories must be located in the "deploy/choreo" directory.
 	 * @return PathPlannerPath created from the given Choreo trajectory file
 	 */
-	static std::shared_ptr<PathPlannerPath> fromChoreoTrajecory(
+	static std::shared_ptr<PathPlannerPath> fromChoreoTrajectory(
 			std::string trajectoryName);
 
 	/**