diff --git a/gtsam/hybrid/GaussianMixtureFactor.h b/gtsam/hybrid/GaussianMixtureFactor.h
index a0a51af55..f27c49180 100644
--- a/gtsam/hybrid/GaussianMixtureFactor.h
+++ b/gtsam/hybrid/GaussianMixtureFactor.h
@@ -24,11 +24,13 @@
 #include <gtsam/discrete/DiscreteKey.h>
 #include <gtsam/hybrid/HybridGaussianFactor.h>
 #include <gtsam/linear/GaussianFactor.h>
+#include <gtsam/linear/VectorValues.h>
 
 namespace gtsam {
 
 class GaussianFactorGraph;
 
+// Needed for wrapper.
 using GaussianFactorVector = std::vector<gtsam::GaussianFactor::shared_ptr>;
 
 /**
@@ -125,6 +127,22 @@ class GTSAM_EXPORT GaussianMixtureFactor : public HybridFactor {
    */
   Sum add(const Sum &sum) const;
 
+  /**
+   * @brief Compute error of the GaussianMixtureFactor as a tree.
+   *
+   * @param continuousVals The continuous VectorValues.
+   * @return DecisionTree<Key, double> A decision tree with corresponding keys
+   * as the factor but leaf values as the error.
+   */
+  DecisionTree<Key, double> error(const VectorValues &c) const {
+    // functor to convert from sharedFactor to double error value.
+    auto errorFunc = [c](const GaussianFactor::shared_ptr &factor) {
+      return factor->error(c);
+    };
+    DecisionTree<Key, double> errorTree(factors_, errorFunc);
+    return errorTree;
+  }
+
   /// Add MixtureFactor to a Sum, syntactic sugar.
   friend Sum &operator+=(Sum &sum, const GaussianMixtureFactor &factor) {
     sum = factor.add(sum);
diff --git a/gtsam/hybrid/MixtureFactor.h b/gtsam/hybrid/MixtureFactor.h
index 5e7337d0c..5a2383221 100644
--- a/gtsam/hybrid/MixtureFactor.h
+++ b/gtsam/hybrid/MixtureFactor.h
@@ -121,6 +121,22 @@ class MixtureFactor : public HybridFactor {
 
   ~MixtureFactor() = default;
 
+  /**
+   * @brief Compute error of the MixtureFactor as a tree.
+   *
+   * @param continuousVals The continuous values for which to compute the error.
+   * @return DecisionTree<Key, double> A decision tree with corresponding keys
+   * as the factor but leaf values as the error.
+   */
+  DecisionTree<Key, double> error(const Values& continuousVals) const {
+    // functor to convert from sharedFactor to double error value.
+    auto errorFunc = [continuousVals](const sharedFactor& factor) {
+      return factor->error(continuousVals);
+    };
+    DecisionTree<Key, double> errorTree(factors_, errorFunc);
+    return errorTree;
+  }
+
   /**
    * @brief Compute error of factor given both continuous and discrete values.
    *