diff --git a/gtsam/hybrid/HybridValues.h b/gtsam/hybrid/HybridValues.h
index 944fe17e6..7bba840ca 100644
--- a/gtsam/hybrid/HybridValues.h
+++ b/gtsam/hybrid/HybridValues.h
@@ -118,6 +118,12 @@ class GTSAM_EXPORT HybridValues {
    */
   Vector& at(Key j) { return continuous_.at(j); };
 
+  /** For all key/value pairs in \c values, replace values with corresponding keys in this class
+  *   with those in \c values.  Throws std::out_of_range if any keys in \c values are not present
+  *   in this class. */
+  void update(const VectorValues& values) { continuous_.update(values); }
+
+  /// @}
   /// @name Wrapper support
   /// @{
 
diff --git a/gtsam/hybrid/hybrid.i b/gtsam/hybrid/hybrid.i
index 3dbf5d542..84c047fcf 100644
--- a/gtsam/hybrid/hybrid.i
+++ b/gtsam/hybrid/hybrid.i
@@ -16,6 +16,7 @@ class HybridValues {
   bool equals(const gtsam::HybridValues& other, double tol) const;
   void insert(gtsam::Key j, int value);
   void insert(gtsam::Key j, const gtsam::Vector& value);
+  void update(const gtsam::VectorValues& values);
   size_t& atDiscrete(gtsam::Key j);
   gtsam::Vector& at(gtsam::Key j);
 };