diff --git a/SHADE_Application/src/Application/SBApplication.cpp b/SHADE_Application/src/Application/SBApplication.cpp
index 53cc1e40..938b0b57 100644
--- a/SHADE_Application/src/Application/SBApplication.cpp
+++ b/SHADE_Application/src/Application/SBApplication.cpp
@@ -22,6 +22,7 @@
 #include "ECS_Base/Managers/SHEntityManager.h"
 #include "Graphics/MiddleEnd/Interface/SHRenderable.h"
 #include "Scene/SHSceneManager.h"
+#include "Math/Transform/SHTransformSystem.h"
 
 #include "Scenes/SBTestScene.h"
 
@@ -45,8 +46,10 @@ namespace Sandbox
     window.Create(hInstance, hPrevInstance, lpCmdLine, nCmdShow);
 
     // Create Systems
-    SHADE::SHSystemManager::CreateSystem<SHADE::SHGraphicsSystem>();
     SHADE::SHSystemManager::CreateSystem<SHADE::SHScriptEngine>();
+    // TODO(Diren): Create Physics System here
+    SHADE::SHSystemManager::CreateSystem<SHADE::SHTransformSystem>();
+    SHADE::SHSystemManager::CreateSystem<SHADE::SHGraphicsSystem>();
     SHADE::SHGraphicsSystem* graphicsSystem = static_cast<SHADE::SHGraphicsSystem*>(SHADE::SHSystemManager::GetSystem<SHADE::SHGraphicsSystem>());
     
     // Create Routines
@@ -54,6 +57,12 @@ namespace Sandbox
     SHADE::SHSystemManager::RegisterRoutine<SHADE::SHScriptEngine, SHADE::SHScriptEngine::UpdateRoutine>();
     SHADE::SHSystemManager::RegisterRoutine<SHADE::SHScriptEngine, SHADE::SHScriptEngine::LateUpdateRoutine>();
     SHADE::SHSystemManager::RegisterRoutine<SHADE::SHScriptEngine, SHADE::SHScriptEngine::FrameCleanUpRoutine>();
+
+    // TODO(Diren): Register Physics System & Routines here
+
+    SHADE::SHSystemManager::RegisterRoutine<SHADE::SHTransformSystem, SHADE::SHTransformSystem::TransformUpdateRoutine>();
+    SHADE::SHComponentManager::CreateComponentSparseSet<SHADE::SHTransformComponent>();
+
     SHADE::SHSystemManager::RegisterRoutine<SHADE::SHGraphicsSystem, SHADE::SHGraphicsSystem::BatcherDispatcherRoutine>();
     SHADE::SHSystemManager::RegisterRoutine<SHADE::SHGraphicsSystem, SHADE::SHGraphicsSystem::BeginRoutine>();
     SHADE::SHSystemManager::RegisterRoutine<SHADE::SHGraphicsSystem, SHADE::SHGraphicsSystem::RenderRoutine>();
diff --git a/SHADE_Application/src/Scenes/SBTestScene.cpp b/SHADE_Application/src/Scenes/SBTestScene.cpp
index c59fa234..751e17a8 100644
--- a/SHADE_Application/src/Scenes/SBTestScene.cpp
+++ b/SHADE_Application/src/Scenes/SBTestScene.cpp
@@ -8,6 +8,7 @@
 #include "Scene/SHSceneManager.h"
 #include "Graphics/MiddleEnd/Interface/SHGraphicsSystem.h"
 #include "Scripting/SHScriptEngine.h"
+#include "Math/Transform/SHTransformComponent.h"
 
 using namespace SHADE;
 
@@ -38,11 +39,15 @@ namespace Sandbox
     auto matInst = graphicsSystem->AddMaterialInstance();
 
     // Create entity and add mesh
-    testObj = SHADE::SHEntityManager::CreateEntity<SHADE::SHRenderable>();
+    testObj = SHADE::SHEntityManager::CreateEntity<SHADE::SHRenderable, SHADE::SHTransformComponent>();
     auto& renderable = *SHADE::SHComponentManager::GetComponent_s<SHADE::SHRenderable>(testObj);
     renderable.Mesh = CUBE_MESH;
     renderable.SetMaterial(matInst);
-    renderable.TransformMatrix.Translate(0.0f, 0.0f, 2.0f);
+    // Create transform
+    auto& transform = *SHADE::SHComponentManager::GetComponent_s<SHADE::SHTransformComponent>(testObj);
+    transform.SetLocalPosition(SHVec3{ 0.0f, 0.0f, 2.0f });
+
+    renderable.TransformMatrix = SHMatrix::Translate(0.0f, 0.0f, 2.0f);
     SHADE::SHScriptEngine* scriptEngine = static_cast<SHADE::SHScriptEngine*>(SHADE::SHSystemManager::GetSystem<SHADE::SHScriptEngine>());
     scriptEngine->AddScript(*SHADE::SHEntityManager::GetEntityByID(testObj), "TestScript");
   }
diff --git a/SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp b/SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp
index adbdf746..f61f3e42 100644
--- a/SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp
+++ b/SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp
@@ -25,14 +25,12 @@ namespace SHADE
   /* Static Data Member Definitions                                                    */
   /*-----------------------------------------------------------------------------------*/
 
-  //SHTransformSystem::TransformUpdateRoutine SHTransformSystem::UpdateRoutine;
-
   /*-----------------------------------------------------------------------------------*/
   /* Constructors & Destructor Definitions                                             */
   /*-----------------------------------------------------------------------------------*/
 
   SHTransformSystem::TransformUpdateRoutine::TransformUpdateRoutine()
-  : SHSystemRoutine { "Transform Update", false }
+  : SHSystemRoutine { "Transform Update", true }
   {}
 
 
@@ -47,6 +45,16 @@ namespace SHADE
     UpdateEntity(SCENE_GRAPH.GetRoot());
   }
 
+  void SHTransformSystem::Init()
+  {
+    
+  }
+
+  void SHTransformSystem::Exit()
+  {
+    
+  }
+
   /*-----------------------------------------------------------------------------------*/
   /* Private Function Member Definitions                                               */
   /*-----------------------------------------------------------------------------------*/
@@ -66,11 +74,9 @@ namespace SHADE
       SHASSERT(IS_NODE_ACTIVE == IS_ENTITY_ACTIVE, "Entity and Node active states are not synced!")
     #endif
 
+      // Anything below is inactive
       if (!IS_NODE_ACTIVE)
-      {
-        UpdateEntity(child);
-        continue;
-      }
+        break;
 
       const bool HAS_TRANSFORM = SHComponentManager::HasComponent<SHTransformComponent>(child->GetEntityID());
       if (!HAS_TRANSFORM)
@@ -96,7 +102,7 @@ namespace SHADE
     if (parent)
     {
       localToWorld = parent->GetTRS();
-      worldToLocal = SHMatrix::Inverse(tf.local.trs);
+      worldToLocal = SHMatrix::Inverse(localToWorld);
     }
 
     while (!tf.updateQueue.empty())
@@ -140,6 +146,10 @@ namespace SHADE
     tf.world.scale    = tf.local.scale * (parent ? parent->GetLocalScale() : SHVec3::One);
 
     tf.world.ComputeTRS();
+
+    // Transpose TRS to column major
+    tf.local.trs.Transpose();
+    tf.world.trs.Transpose();
   }
 
 } // namespace SHADE
\ No newline at end of file
diff --git a/SHADE_Engine/src/Math/Transform/SHTransformSystem.h b/SHADE_Engine/src/Math/Transform/SHTransformSystem.h
index c57cbdbd..02c3b6c6 100644
--- a/SHADE_Engine/src/Math/Transform/SHTransformSystem.h
+++ b/SHADE_Engine/src/Math/Transform/SHTransformSystem.h
@@ -21,7 +21,7 @@ namespace SHADE
   /* Type Definitions                                                                  */
   /*-----------------------------------------------------------------------------------*/
 
-  class SH_API SHTransformSystem : public SHSystem
+  class SH_API SHTransformSystem final : public SHSystem
   {
   public:
     /*---------------------------------------------------------------------------------*/
@@ -29,7 +29,7 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
 
     SHTransformSystem   () = default;
-    ~SHTransformSystem  () = default;
+    ~SHTransformSystem  () override = default;
 
     SHTransformSystem   (const SHTransformSystem&)  = delete;
     SHTransformSystem   (SHTransformSystem&&)       = delete;
@@ -45,7 +45,7 @@ namespace SHADE
     /* System Routines                                                                 */
     /*---------------------------------------------------------------------------------*/
 
-    class TransformUpdateRoutine : public SHSystemRoutine
+    class SH_API TransformUpdateRoutine final: public SHSystemRoutine
     {
     public:
       /*-------------------------------------------------------------------------------*/
@@ -72,7 +72,12 @@ namespace SHADE
       void Execute(double dt) noexcept override;
     };
 
-    //static TransformUpdateRoutine UpdateRoutine;
+    /*---------------------------------------------------------------------------------*/
+    /* Function Members                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    void Init () override;
+    void Exit () override;
 
   private:
     /*---------------------------------------------------------------------------------*/
diff --git a/SHADE_Engine/src/Scene/SHSceneGraph.cpp b/SHADE_Engine/src/Scene/SHSceneGraph.cpp
index 84c7f1c5..da2dcffd 100644
--- a/SHADE_Engine/src/Scene/SHSceneGraph.cpp
+++ b/SHADE_Engine/src/Scene/SHSceneGraph.cpp
@@ -497,9 +497,16 @@ namespace SHADE
     SHSceneNode* newNode = AllocateNode(entityID);
 
     if (parent == nullptr)
+    {
+      // Specific handling for root to avoid a warning when removing a non-existent child
       parent = root;
-
-    newNode->SetParent(parent);
+      newNode->parent = root;
+      root->children.emplace_back(newNode);
+    }
+    else
+    {
+      newNode->SetParent(parent);
+    }
 
     return newNode;
   }