diff --git a/gtsam/hybrid/HybridBayesNet.cpp b/gtsam/hybrid/HybridBayesNet.cpp
index 3bafe5a9c..31177ddb7 100644
--- a/gtsam/hybrid/HybridBayesNet.cpp
+++ b/gtsam/hybrid/HybridBayesNet.cpp
@@ -281,6 +281,36 @@ HybridValues HybridBayesNet::sample() const {
   return sample(&kRandomNumberGenerator);
 }
 
+/* ************************************************************************* */
+AlgebraicDecisionTree<Key> HybridBayesNet::error(
+    const VectorValues &continuousValues) const {
+  AlgebraicDecisionTree<Key> result(0.0);
+
+  // Iterate over each conditional.
+  for (auto &&conditional : *this) {
+    if (auto gm = conditional->asMixture()) {
+      // If conditional is hybrid, compute error for all assignments.
+      result = result + gm->error(continuousValues);
+
+    } else if (auto gc = conditional->asGaussian()) {
+      // If continuous, get the error and add it to the result
+      double error = gc->error(continuousValues);
+      // Add the computed error to every leaf of the result tree.
+      result = result.apply(
+          [error](double leaf_value) { return leaf_value + error; });
+
+    } else if (auto dc = conditional->asDiscrete()) {
+      // If discrete, add the discrete error in the right branch
+      result = result.apply(
+          [dc](const Assignment<Key> &assignment, double leaf_value) {
+            return leaf_value + dc->error(DiscreteValues(assignment));
+          });
+    }
+  }
+
+  return result;
+}
+
 /* ************************************************************************* */
 AlgebraicDecisionTree<Key> HybridBayesNet::logProbability(
     const VectorValues &continuousValues) const {
diff --git a/gtsam/hybrid/HybridBayesNet.h b/gtsam/hybrid/HybridBayesNet.h
index e71cfe9b4..2934ef176 100644
--- a/gtsam/hybrid/HybridBayesNet.h
+++ b/gtsam/hybrid/HybridBayesNet.h
@@ -187,6 +187,16 @@ class GTSAM_EXPORT HybridBayesNet : public BayesNet<HybridConditional> {
    * @param continuousValues Continuous values at which to compute the error.
    * @return AlgebraicDecisionTree<Key>
    */
+  AlgebraicDecisionTree<Key> error(const VectorValues &continuousValues) const;
+
+  /**
+   * @brief Compute log probability for each discrete assignment,
+   * and return as a tree.
+   *
+   * @param continuousValues Continuous values at which
+   * to compute the log probability.
+   * @return AlgebraicDecisionTree<Key>
+   */
   AlgebraicDecisionTree<Key> logProbability(
       const VectorValues &continuousValues) const;
 
diff --git a/gtsam/hybrid/tests/testHybridBayesNet.cpp b/gtsam/hybrid/tests/testHybridBayesNet.cpp
index 5248fce01..66985cc78 100644
--- a/gtsam/hybrid/tests/testHybridBayesNet.cpp
+++ b/gtsam/hybrid/tests/testHybridBayesNet.cpp
@@ -153,6 +153,45 @@ TEST(HybridBayesNet, Choose) {
                       *gbn.at(3)));
 }
 
+/* ****************************************************************************/
+// Test error for a hybrid Bayes net P(X0|X1) P(X1|Asia) P(Asia).
+TEST(HybridBayesNet, Error) {
+  const auto continuousConditional = GaussianConditional::sharedMeanAndStddev(
+      X(0), 2 * I_1x1, X(1), Vector1(-4.0), 5.0);
+
+  const SharedDiagonal model0 = noiseModel::Diagonal::Sigmas(Vector1(2.0)),
+                       model1 = noiseModel::Diagonal::Sigmas(Vector1(3.0));
+
+  const auto conditional0 = std::make_shared<GaussianConditional>(
+                 X(1), Vector1::Constant(5), I_1x1, model0),
+             conditional1 = std::make_shared<GaussianConditional>(
+                 X(1), Vector1::Constant(2), I_1x1, model1);
+
+  auto gm =
+      new GaussianMixture({X(1)}, {}, {Asia}, {conditional0, conditional1});
+  // Create hybrid Bayes net.
+  HybridBayesNet bayesNet;
+  bayesNet.push_back(continuousConditional);
+  bayesNet.emplace_back(gm);
+  bayesNet.emplace_back(new DiscreteConditional(Asia, "99/1"));
+
+  // Create values at which to evaluate.
+  HybridValues values;
+  values.insert(asiaKey, 0);
+  values.insert(X(0), Vector1(-6));
+  values.insert(X(1), Vector1(1));
+
+  AlgebraicDecisionTree<Key> actual_errors =
+      bayesNet.error(values.continuous());
+
+  // Regression.
+  // Manually added all the error values from the 3 conditional types.
+  AlgebraicDecisionTree<Key> expected_errors(
+      {Asia}, std::vector<double>{2.33005033585, 5.38619084965});
+
+  EXPECT(assert_equal(expected_errors, actual_errors));
+}
+
 /* ****************************************************************************/
 // Test Bayes net optimize
 TEST(HybridBayesNet, OptimizeAssignment) {