diff --git a/src/main/java/frc/robot/commands/intake/StartOutake.java b/src/main/java/frc/robot/commands/intake/StartOutake.java
new file mode 100644
index 00000000..2a32861a
--- /dev/null
+++ b/src/main/java/frc/robot/commands/intake/StartOutake.java
@@ -0,0 +1,39 @@
+package frc.robot.commands.intake;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.Constants;
+import frc.robot.subsystems.IntakeSubsystem;
+
+public class StartOutake extends Command {
+    private final IntakeSubsystem intakeSubsystem;
+    private final Timer timer = new Timer();
+    private final int motorRunTime;
+
+    public StartOutake(IntakeSubsystem intakeSubsystem, int motorRunTime) {
+        addRequirements(intakeSubsystem);
+        this.intakeSubsystem = intakeSubsystem;
+        this.motorRunTime = motorRunTime;
+    }
+
+    @Override
+    public void initialize() {
+        timer.reset();
+        timer.start();
+    }
+  
+    @Override
+    public void execute() {
+        intakeSubsystem.setMotorSpeed(-Constants.INTAKE_MOTOR_1_SPEED, -Constants.INTAKE_MOTOR_2_SPEED);
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        intakeSubsystem.stopMotors();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return timer.hasElapsed(motorRunTime);
+    }
+}
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