diff --git a/src/main/java/frc/robot/commands/auton/AutoAmpSequence.java b/src/main/java/frc/robot/commands/auton/AutoAmpSequence.java
index 1d9817e5..da7bf6c6 100644
--- a/src/main/java/frc/robot/commands/auton/AutoAmpSequence.java
+++ b/src/main/java/frc/robot/commands/auton/AutoAmpSequence.java
@@ -2,6 +2,8 @@
 
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.commands.elevator.ElevatorToZeroCommand;
+import frc.robot.commands.intake.pivot.IntakePivotSetPositionCommand;
 import frc.robot.commands.intake.roller.IntakeRollerOuttakeCommand;
 import frc.robot.commands.sequences.PrepareAmpSequence;
 import frc.robot.commands.swerve.AlignCommand;
@@ -11,8 +13,10 @@
 import frc.robot.subsystems.intake.IntakeRollerSubsystem;
 import frc.robot.subsystems.swerve.SwerveSubsystem;
 
-/** Automatically runs an amp cycle including preparing the note, going to and aligning with the amp, and depositing the
- *  note (given that the robot already has a note). */
+/** 
+ * Automatically runs an amp cycle including preparing the note, going to and aligning with the amp, and depositing the
+ *  note (given that the robot already has a note).
+ */
 public class AutoAmpSequence extends SequentialCommandGroup {
     
     /** Constructs a new {@link AutoAmpSequence}. */
@@ -23,11 +27,20 @@ public AutoAmpSequence(FieldManagementSubsystem fms,
                            IntakeRollerSubsystem intakeRollerSubsystem) {
 
         addCommands(
+            /* Prepares the mechanisms for amping while path-finding the robot to its amping position. */
             Commands.parallel(
                 new PrepareAmpSequence(elevatorSubsystem, intakePivotSubsystem, intakeRollerSubsystem),
                 AlignCommand.getAmpAlignCommand(swerveSubsystem, fms.isRedAlliance())
             ),
-            new IntakeRollerOuttakeCommand(intakeRollerSubsystem).withTimeout(1)
+
+            /* Deposits the note into the amp. */
+            new IntakeRollerOuttakeCommand(intakeRollerSubsystem).withTimeout(1),
+
+            /* Retracts the intake and lowers the elevator, resetting the robot to its stowed state.*/
+            Commands.parallel(
+                new IntakePivotSetPositionCommand(intakePivotSubsystem, 0),
+                new ElevatorToZeroCommand(elevatorSubsystem)
+            )
         );
     }
 }