diff --git a/gtsam/groups.dox b/gtsam/groups.dox
index b3fd9efaf..b73c255db 100644
--- a/gtsam/groups.dox
+++ b/gtsam/groups.dox
@@ -50,4 +50,7 @@
 \defgroup symbolic Symbolic
 @{ @}
 
+\defgroup isam2 ISAM2
+@{ @}
+
 */ 
diff --git a/gtsam/nonlinear/ISAM2.h b/gtsam/nonlinear/ISAM2.h
index 37feee837..6e88079b1 100644
--- a/gtsam/nonlinear/ISAM2.h
+++ b/gtsam/nonlinear/ISAM2.h
@@ -32,7 +32,7 @@
 namespace gtsam {
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * Implementation of the full ISAM2 algorithm for incremental nonlinear
  * optimization.
  *
diff --git a/gtsam/nonlinear/ISAM2Params.h b/gtsam/nonlinear/ISAM2Params.h
index d88afd505..e35340377 100644
--- a/gtsam/nonlinear/ISAM2Params.h
+++ b/gtsam/nonlinear/ISAM2Params.h
@@ -27,7 +27,7 @@
 namespace gtsam {
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * Parameters for ISAM2 using Gauss-Newton optimization.  Either this class or
  * ISAM2DoglegParams should be specified as the optimizationParams in
  * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&).
@@ -59,7 +59,7 @@ struct GTSAM_EXPORT ISAM2GaussNewtonParams {
 };
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * Parameters for ISAM2 using Dogleg optimization.  Either this class or
  * ISAM2GaussNewtonParams should be specified as the optimizationParams in
  * ISAM2Params, which should in turn be passed to ISAM2(const ISAM2Params&).
@@ -126,7 +126,7 @@ struct GTSAM_EXPORT ISAM2DoglegParams {
 };
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * Parameters for the ISAM2 algorithm.  Default parameter values are listed
  * below.
  */
diff --git a/gtsam/nonlinear/ISAM2Result.h b/gtsam/nonlinear/ISAM2Result.h
index be91f17e2..077174970 100644
--- a/gtsam/nonlinear/ISAM2Result.h
+++ b/gtsam/nonlinear/ISAM2Result.h
@@ -32,7 +32,7 @@
 namespace gtsam {
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * This struct is returned from ISAM2::update() and contains information about
  * the update that is useful for determining whether the solution is
  * converging, and about how much work was required for the update.  See member
diff --git a/gtsam/nonlinear/ISAM2UpdateParams.h b/gtsam/nonlinear/ISAM2UpdateParams.h
index 44519e3aa..0a3be1daf 100644
--- a/gtsam/nonlinear/ISAM2UpdateParams.h
+++ b/gtsam/nonlinear/ISAM2UpdateParams.h
@@ -25,7 +25,7 @@
 namespace gtsam {
 
 /**
- * @addtogroup ISAM2
+ * @ingroup isam2
  * This struct is used by ISAM2::update() to pass additional parameters to
  * give the user a fine-grained control on how factors and relinearized, etc.
  */