diff --git a/dartsim/src/JointFeatures.cc b/dartsim/src/JointFeatures.cc
index c4f4e2bcb..0a60f5ff4 100644
--- a/dartsim/src/JointFeatures.cc
+++ b/dartsim/src/JointFeatures.cc
@@ -200,7 +200,11 @@ void JointFeatures::SetJointMinPosition(
            << "]. The command will be ignored\n";
     return;
   }
+#if DART_VERSION_AT_LEAST(6, 10, 0)
   joint->setLimitEnforcement(true);
+#else
+  joint->setPositionLimitEnforced(true);
+#endif
   // We do not check min/max mismatch, we leave that to DART.
   joint->setPositionLowerLimit(_dof, _value);
 }
@@ -221,7 +225,11 @@ void JointFeatures::SetJointMaxPosition(
            << "]. The command will be ignored\n";
     return;
   }
+#if DART_VERSION_AT_LEAST(6, 10, 0)
   joint->setLimitEnforcement(true);
+#else
+  joint->setPositionLimitEnforced(true);
+#endif
   // We do not check min/max mismatch, we leave that to DART.
   joint->setPositionUpperLimit(_dof, _value);
 }
@@ -242,7 +250,11 @@ void JointFeatures::SetJointMinVelocity(
            << "]. The command will be ignored\n";
     return;
   }
+#if DART_VERSION_AT_LEAST(6, 10, 0)
   joint->setLimitEnforcement(true);
+#else
+  joint->setPositionLimitEnforced(true);
+#endif
   // We do not check min/max mismatch, we leave that to DART.
   joint->setVelocityLowerLimit(_dof, _value);
 }
@@ -263,7 +275,11 @@ void JointFeatures::SetJointMaxVelocity(
            << "]. The command will be ignored\n";
     return;
   }
+#if DART_VERSION_AT_LEAST(6, 10, 0)
   joint->setLimitEnforcement(true);
+#else
+  joint->setPositionLimitEnforced(true);
+#endif
   // We do not check min/max mismatch, we leave that to DART.
   joint->setVelocityUpperLimit(_dof, _value);
 }
diff --git a/dartsim/src/JointFeatures_TEST.cc b/dartsim/src/JointFeatures_TEST.cc
index e7e368844..d8ff7d7de 100644
--- a/dartsim/src/JointFeatures_TEST.cc
+++ b/dartsim/src/JointFeatures_TEST.cc
@@ -230,6 +230,7 @@ TEST_F(JointFeaturesFixture, JointSetPositionLimitsWithForceControl)
   EXPECT_LT(pos + 0.5, joint->GetPosition(0));
 }
 
+#if DART_VERSION_AT_LEAST(6, 10, 0)
 TEST_F(JointFeaturesFixture, JointSetVelocityLimitsWithForceControl)
 {
   sdf::Root root;
@@ -632,6 +633,7 @@ TEST_F(JointFeaturesFixture, JointSetCombinedLimitsWithVelocityControl)
   }
   EXPECT_NEAR(-0.5, joint->GetVelocity(0), 1e-6);
 }
+#endif
 
 // Test detaching joints.
 TEST_F(JointFeaturesFixture, JointDetach)