diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index c9dfcf487..c6da8e80b 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -226,11 +226,9 @@ namespace gtsam {
   // between = compose(p2,inverse(p1));
   Pose3 Pose3::between(const Pose3& p2, boost::optional<Matrix&> H1,
       boost::optional<Matrix&> H2) const {
-      Matrix invH;
-    Pose3 invp1 = inverse(invH);
-    Matrix composeH1;
-    Pose3 result = invp1.compose(p2, composeH1, H2);
-    if (H1) *H1 = composeH1 * invH;
+    Pose3 result = inverse()*p2;
+    if (H1) *H1 = -result.inverse().adjointMap();
+    if (H2) *H2 = I6;
     return result;
   }
 
diff --git a/gtsam/geometry/tests/timePose3.cpp b/gtsam/geometry/tests/timePose3.cpp
index 2931a9059..9b125cf28 100644
--- a/gtsam/geometry/tests/timePose3.cpp
+++ b/gtsam/geometry/tests/timePose3.cpp
@@ -40,10 +40,13 @@ int main()
   double x=1.0/norm, y=4.0/norm, z=2.0/norm;
   Vector v = Vector_(6,x,y,z,0.1,0.2,-0.1);
   Pose3 T = Pose3::Expmap(Vector_(6,0.1,0.1,0.2,0.1, 0.4, 0.2)), T2 = T.retract(v);
+  Matrix H1,H2;
 
   TEST("retract", T.retract(v))
   TEST("Expmap", T*Pose3::Expmap(v))
   TEST("localCoordinates", T.localCoordinates(T2))
+  TEST("between", T.between(T2))
+  TEST("between-derivatives", T.between(T2,H1,H2))
   TEST("Logmap", Pose3::Logmap(T.between(T2)))
 
   return 0;