diff --git a/src/main/java/frc/robot/commands/FollowTag.java b/src/main/java/frc/robot/commands/FollowTag.java
new file mode 100644
index 0000000..96d4485
--- /dev/null
+++ b/src/main/java/frc/robot/commands/FollowTag.java
@@ -0,0 +1,47 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.RobotMovementConstants;
+import frc.robot.subsystems.SwerveDrivetrain;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.geometry.Translation2d;
+import frc.robot.Constants.RobotMovementConstants;
+
+public class FollowTag extends Command {
+    private final SwerveDrivetrain drivetrain;
+    private final int tagID;
+    private final Translation2d targetDistance;
+    private final PIDController xController, yController, rotationController;
+
+    public FollowTag(SwerveDrivetrain drivetrain, int tagID, Translation2d targetDistanceToTag) {
+        this.drivetrain = drivetrain;
+        this.tagID = tagID;
+        this.targetDistance = targetDistanceToTag;
+
+        xController = new PIDController(
+            RobotMovementConstants.TRANSLATION_PID_P,
+            RobotMovementConstants.TRANSLATION_PID_I,
+            RobotMovementConstants.TRANSLATION_PID_D
+        );
+        xController.setTolerance(RobotMovementConstants.POSITION_TOLERANCE_METERS);
+
+        yController = new PIDController(
+            RobotMovementConstants.TRANSLATION_PID_P,
+            RobotMovementConstants.TRANSLATION_PID_I,
+            RobotMovementConstants.TRANSLATION_PID_D
+        );
+        yController.setTolerance(RobotMovementConstants.POSITION_TOLERANCE_METERS);
+
+        rotationController = new PIDController(
+            RobotMovementConstants.ROTATION_PID_P,
+            RobotMovementConstants.ROTATION_PID_I,
+            RobotMovementConstants.ROTATION_PID_D
+        );
+        rotationController.setTolerance(RobotMovementConstants.ANGLE_TOLERANCE_RADIANS);
+    }
+
+    @Override
+    public void execute() {
+        
+    }
+}