diff --git a/upstream_utils/update_drake.py b/upstream_utils/update_drake.py
new file mode 100755
index 0000000..a6b6499
--- /dev/null
+++ b/upstream_utils/update_drake.py
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+
+import os
+import shutil
+
+from upstream_utils import setup_upstream_repo, comment_out_invalid_includes, walk_cwd_and_copy_if, apply_patches
+
+
+def main():
+    root, repo = setup_upstream_repo("https://github.com/RobotLocomotion/drake",
+                                     "v0.35.0")
+    wpimath = os.path.join(root, "wpimath")
+
+    # Delete old install
+    for d in [
+            "src/main/native/cpp/drake", "src/main/native/include/drake",
+            "src/test/native/cpp/drake", "src/test/native/include/drake"
+    ]:
+        shutil.rmtree(os.path.join(wpimath, d), ignore_errors=True)
+
+    # Copy drake source files into allwpilib
+    src_files = walk_cwd_and_copy_if(
+        lambda dp, f: f in
+        ["drake_assert_and_throw.cc", "discrete_algebraic_riccati_equation.cc"],
+        os.path.join(wpimath, "src/main/native/cpp/drake"))
+
+    # Copy drake header files into allwpilib
+    include_files = walk_cwd_and_copy_if(
+        lambda dp, f: f in [
+            "drake_assert.h", "drake_assertion_error.h",
+            "is_approx_equal_abstol.h", "never_destroyed.h", "drake_copyable.h",
+            "drake_throw.h", "discrete_algebraic_riccati_equation.h"
+        ], os.path.join(wpimath, "src/main/native/include/drake"))
+
+    # Copy drake test source files into allwpilib
+    os.chdir(os.path.join(repo, "math/test"))
+    test_src_files = walk_cwd_and_copy_if(
+        lambda dp, f: f == "discrete_algebraic_riccati_equation_test.cc",
+        os.path.join(wpimath, "src/test/native/cpp/drake"))
+    os.chdir(repo)
+
+    # Copy drake test header files into allwpilib
+    test_include_files = walk_cwd_and_copy_if(
+        lambda dp, f: f == "eigen_matrix_compare.h",
+        os.path.join(wpimath, "src/test/native/include/drake"))
+
+    for f in src_files:
+        comment_out_invalid_includes(
+            f, [os.path.join(wpimath, "src/main/native/include")])
+    for f in include_files:
+        comment_out_invalid_includes(
+            f, [os.path.join(wpimath, "src/main/native/include")])
+    for f in test_src_files:
+        comment_out_invalid_includes(f, [
+            os.path.join(wpimath, "src/main/native/include"),
+            os.path.join(wpimath, "src/test/native/include")
+        ])
+    for f in test_include_files:
+        comment_out_invalid_includes(f, [
+            os.path.join(wpimath, "src/main/native/include"),
+            os.path.join(wpimath, "src/test/native/include")
+        ])
+
+    apply_patches(root, [
+        "upstream_utils/drake-replace-dense-with-core.patch",
+        "upstream_utils/drake-dllexport-dare.patch",
+        "upstream_utils/drake-fix-doxygen.patch"
+    ])
+
+
+if __name__ == "__main__":
+    main()