diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 8be314c4e..e471cb02f 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -112,7 +112,7 @@ std::function<double(const Assignment<Key> &, double)> prunerFunc(
           DiscreteValues::CartesianProduct(set_diff);
       for (const DiscreteValues &assignment : assignments) {
         DiscreteValues augmented_values(values);
-        augmented_values.insert(assignment.begin(), assignment.end());
+        augmented_values.insert(assignment);
 
         // If any one of the sub-branches are non-zero,
         // we need this probability.
diff --git a/gtsam/hybrid/HybridValues.h b/gtsam/hybrid/HybridValues.h
index ff896041e..efe65bc31 100644
--- a/gtsam/hybrid/HybridValues.h
+++ b/gtsam/hybrid/HybridValues.h
@@ -104,6 +104,28 @@ class GTSAM_EXPORT HybridValues {
    * @param j The index with which the value will be associated. */
   void insert(Key j, const Vector& value) { continuous_.insert(j, value); }
 
+  /** Insert all continuous values from \c values.  Throws an invalid_argument
+   * exception if any keys to be inserted are already used. */
+  HybridValues& insert(const VectorValues& values) {
+    continuous_.insert(values);
+    return *this;
+  }
+
+  /** Insert all discrete values from \c values.  Throws an invalid_argument
+   * exception if any keys to be inserted are already used. */
+  HybridValues& insert(const DiscreteValues& values) {
+    discrete_.insert(values);
+    return *this;
+  }
+
+  /** Insert all values from \c values.  Throws an invalid_argument exception if
+   * any keys to be inserted are already used. */
+  HybridValues& insert(const HybridValues& values) {
+    continuous_.insert(values.continuous());
+    discrete_.insert(values.discrete());
+    return *this;
+  }
+
   // TODO(Shangjie)- insert_or_assign() , similar to Values.h
 
   /**
@@ -118,10 +140,33 @@ 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); }
+  /** For all key/value pairs in \c values, replace continuous values with
+   * corresponding keys in this object with those in \c values.  Throws
+   * std::out_of_range if any keys in \c values are not present in this object.
+   */
+  HybridValues& update(const VectorValues& values) {
+    continuous_.update(values);
+    return *this;
+  }
+
+  /** For all key/value pairs in \c values, replace discrete values with
+   * corresponding keys in this object with those in \c values.  Throws
+   * std::out_of_range if any keys in \c values are not present in this object.
+   */
+  HybridValues& update(const DiscreteValues& values) {
+    discrete_.update(values);
+    return *this;
+  }
+
+  /** For all key/value pairs in \c values, replace all values with
+   * corresponding keys in this object with those in \c values.  Throws
+   * std::out_of_range if any keys in \c values are not present in this object.
+   */
+  HybridValues& update(const HybridValues& values) {
+    continuous_.update(values.continuous());
+    discrete_.update(values.discrete());
+    return *this;
+  }
 
   /// @}
   /// @name Wrapper support
diff --git a/gtsam/hybrid/tests/testHybridValues.cpp b/gtsam/hybrid/tests/testHybridValues.cpp
index 6f510601d..02e1cb733 100644
--- a/gtsam/hybrid/tests/testHybridValues.cpp
+++ b/gtsam/hybrid/tests/testHybridValues.cpp
@@ -32,22 +32,45 @@
 using namespace std;
 using namespace gtsam;
 
-TEST(HybridValues, basics) {
+static const HybridValues kExample{{{99, Vector2(2, 3)}}, {{100, 3}}};
+
+/* ************************************************************************* */
+TEST(HybridValues, Basics) {
   HybridValues values;
   values.insert(99, Vector2(2, 3));
   values.insert(100, 3);
+  EXPECT(assert_equal(kExample, values));
   EXPECT(assert_equal(values.at(99), Vector2(2, 3)));
   EXPECT(assert_equal(values.atDiscrete(100), int(3)));
 
-  values.print();
-
   HybridValues values2;
   values2.insert(100, 3);
   values2.insert(99, Vector2(2, 3));
-  EXPECT(assert_equal(values2, values));
+  EXPECT(assert_equal(kExample, values2));
+}
 
-  values2.insert(98, Vector2(2, 3));
-  EXPECT(!assert_equal(values2, values));
+/* ************************************************************************* */
+// Check insert
+TEST(HybridValues, Insert) {
+  HybridValues actual;
+  EXPECT(assert_equal({{}, {{100, 3}}},  //
+                      actual.insert(DiscreteValues{{100, 3}})));
+  EXPECT(assert_equal(kExample,  //
+                      actual.insert(VectorValues{{99, Vector2(2, 3)}})));
+  HybridValues actual2;
+  EXPECT(assert_equal(kExample, actual2.insert(kExample)));
+}
+
+/* ************************************************************************* */
+// Check update.
+TEST(HybridValues, Update) {
+  HybridValues actual(kExample);
+  EXPECT(assert_equal({{{99, Vector2(2, 3)}}, {{100, 2}}},
+                      actual.update(DiscreteValues{{100, 2}})));
+  EXPECT(assert_equal({{{99, Vector1(4)}}, {{100, 2}}},
+                      actual.update(VectorValues{{99, Vector1(4)}})));
+  HybridValues actual2(kExample);
+  EXPECT(assert_equal(kExample, actual2.update(kExample)));
 }
 
 /* ************************************************************************* */