  We demonstrate a simple pulse shaping technique designed to improve the
fidelity of spin-dependent force operations commonly used to implement
entangling gates in trapped-ion systems. This extension of the
M{\o}lmer-S{\o}rensen gate can theoretically suppress the effects of certain
frequency and timing errors to any desired order and is demonstrated through
Walsh modulation of a two-qubit entangling gate on trapped atomic ions. The
technique is applicable to any system of qubits coupled through collective
harmonic oscillator modes.
