diff --git a/wpiunits/generate_units.py b/wpiunits/generate_units.py
index 3f35152b61b..58eaa134d53 100755
--- a/wpiunits/generate_units.py
+++ b/wpiunits/generate_units.py
@@ -136,6 +136,30 @@ def output(output_dir, outfn: str, contents: str):
             "Force": "Torque",
         },
         "divide": {"Time": "LinearVelocity", "LinearVelocity": "Time"},
+        "extra": inspect.cleandoc(
+            """
+          /** Returns the hypotenuse (sqrt(a^2 + b^2)) between two Distances.
+          * The result is returned in the units of the first parameter.
+          * @param a the first distance
+          * @param b the second distance
+          * @return the hypotenuse between a and b
+          */
+          static Distance hypot(Distance a, Distance b) {
+              return a.unit().ofBaseUnits(
+                  Math.hypot(a.in(a.unit().getBaseUnit()), b.in(b.unit().getBaseUnit()))
+              );
+          }
+  
+          /** Returns the hypotenuse (sqrt(this^2 + other^2)) between two Distances.
+          * The result is returned in the units of the first parameter.
+          * @param other the second distance
+          * @return the hypotenuse between this and other
+          */
+          default Distance hypot(Distance other) {
+              return hypot(this, other);
+          }
+        """
+        ),
     },
     "Energy": {
         "base_unit": "Joules",
diff --git a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java
index e0f53a620e2..a80512b5f4c 100644
--- a/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java
+++ b/wpiunits/src/generated/main/java/edu/wpi/first/units/measure/Distance.java
@@ -780,5 +780,25 @@ default Per<DistanceUnit, VoltageUnit> divide(Voltage divisor) {
   default Per<DistanceUnit, VoltageUnit> per(VoltageUnit divisorUnit) {
     return div(divisorUnit.one());
   }
+  
+  /** Returns the hypotenuse (sqrt(a^2 + b^2)) between two Distances.
+  * The result is returned in the units of the first parameter.
+  * @param a the first distance
+  * @param b the second distance
+  * @return the hypotenuse between a and b
+  */
+  static Distance hypot(Distance a, Distance b) {
+      return a.unit().ofBaseUnits(
+          Math.hypot(a.in(a.unit().getBaseUnit()), b.in(b.unit().getBaseUnit()))
+      );
+  }
 
+  /** Returns the hypotenuse (sqrt(this^2 + other^2)) between two Distances.
+  * The result is returned in the units of the first parameter.
+  * @param other the second distance
+  * @return the hypotenuse between this and other
+  */
+  default Distance hypot(Distance other) {
+      return hypot(this, other);
+  }
 }
diff --git a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
index 25667d8f09d..7f7c720e81a 100644
--- a/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
+++ b/wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java
@@ -114,6 +114,30 @@ void testAs() {
     assertEquals(1, m.in(Units.Feet), Measure.EQUIVALENCE_THRESHOLD);
   }
 
+  @Test
+  void testHypot() {
+    Distance a = Units.Meters.of(6);
+    Distance b = Units.Meters.of(8);
+
+    // Static method on Distance
+    Distance resStatic = Distance.hypot(a, b);
+    assertEquals(Units.Meters.of(10), resStatic);
+
+    // Instance method on Distance delegating to static
+    Distance resInstance = a.hypot(b);
+    assertEquals(Units.Meters.of(10), resInstance);
+
+    // Mixed units: 3 feet and 48 inches (4 feet) -> hypot = 5 feet
+    Distance f3 = Units.Feet.of(3);
+    Distance in48 = Units.Inches.of(48);
+
+    Distance mixed = Distance.hypot(f3, in48);
+    assertTrue(mixed.isEquivalent(Units.Feet.of(5)));
+
+    Distance mixedInstance = f3.hypot(in48);
+    assertTrue(mixedInstance.isEquivalent(Units.Feet.of(5)));
+  }
+
   @Test
   void testPerMeasureTime() {
     var measure = Units.Kilograms.of(144);