diff --git a/python/src/gz/sim/Joint.cc b/python/src/gz/sim/Joint.cc
index 307289ec44..328e4d51cf 100644
--- a/python/src/gz/sim/Joint.cc
+++ b/python/src/gz/sim/Joint.cc
@@ -94,7 +94,22 @@ void defineSimJoint(py::object module)
       py::arg("ecm"),
       py::arg("limits"),
       "Set the effort limits on a joint axis.")
-  .def("set_position_imits", &gz::sim::Joint::SetPositionLimits,
+  .def("set_position_imits",
+       [](pybind11::object &self, EntityComponentManager &_ecm,
+          const std::vector<math::Vector2d> &_limits)
+       {
+            auto warnings = pybind11::module::import("warnings");
+            auto builtins = pybind11::module::import("builtins");
+            warnings.attr("warn")(
+                "set_position_imits() is deprecated, use set_position_limits() instead.",
+                builtins.attr("DeprecationWarning"));
+
+            return self.attr("set_position_limits")(_ecm, _limits);
+       },
+      py::arg("ecm"),
+      py::arg("limits"),
+      "Set the position limits on a joint axis.")
+  .def("set_position_limits", &gz::sim::Joint::SetPositionLimits,
       py::arg("ecm"),
       py::arg("limits"),
       "Set the position limits on a joint axis.")