diff --git a/commands2/cmd.py b/commands2/cmd.py
index 42b9043..0d7d894 100644
--- a/commands2/cmd.py
+++ b/commands2/cmd.py
@@ -111,6 +111,26 @@ def startRun(
     )
 
 
+def startRunEnd(
+    start: Callable[[], Any],
+    run: Callable[[], Any],
+    end: Callable[[], Any],
+    *requirements: Subsystem
+) -> Command:
+    """
+    Constructs a command that runs an action once, and then runs an action every iteration until interrupted,
+    and then runs a third action.
+
+    :param start the action to run on start
+    :param run the action to run every iteration
+    :param end the action to run on interrupt
+    :returns: the command
+    """
+    return FunctionalCommand(
+        start, run, lambda interrupted: end(), lambda: False, *requirements
+    )
+
+
 def print_(message: str) -> Command:
     """
     Constructs a command that prints a message and finishes.
diff --git a/commands2/subsystem.py b/commands2/subsystem.py
index d0b73d0..10b86a1 100644
--- a/commands2/subsystem.py
+++ b/commands2/subsystem.py
@@ -168,6 +168,27 @@ def startRun(self, start: Callable[[], None], run: Callable[[], None]) -> Comman
 
         return startRun(start, run, self)
 
+    def startRunEnd(
+        self,
+        start: Callable[[], None],
+        run: Callable[[], None],
+        end: Callable[[], None],
+    ) -> Command:
+        """
+        Constructs a command that runs an action once, and then runs an action
+        every iteration until interrupted, and then runs a third action.
+        every iteration until interrupted, and then runs a third action. Requires
+        this subsystem.
+
+        :param start the action to run on start
+        :param run the action to run every iteration
+        :param end the action to run on interrupt
+        :returns: the command
+        """
+        from .cmd import startRunEnd
+
+        return startRunEnd(start, run, end, self)
+
     def idle(self) -> Command:
         """
         Constructs a command that does nothing until interrupted. Requires this subsystem.