diff --git a/gtsam/geometry/Pose3.cpp b/gtsam/geometry/Pose3.cpp
index 643416826..5a7bec20a 100644
--- a/gtsam/geometry/Pose3.cpp
+++ b/gtsam/geometry/Pose3.cpp
@@ -473,6 +473,17 @@ boost::optional<Pose3> Pose3::Align(const Point3Pairs &abPointPairs) {
   return Pose3(aRb, aTb);
 }
 
+boost::optional<Pose3> Pose3::Align(const Matrix& a, const Matrix& b) {
+  if (a.rows() != 3 || b.rows() != 3 || a.cols() != b.cols()) {
+    throw std::invalid_argument(
+      "Pose3:Align expects 3*N matrices of equal shape.");
+  }
+  Point3Pairs abPointPairs;
+  for (size_t j=0; j < a.cols(); j++) {
+    abPointPairs.emplace_back(a.col(j), b.col(j));
+  }
+  return Pose3::Align(abPointPairs);
+}
 boost::optional<Pose3> align(const Point3Pairs &baPointPairs) {
   Point3Pairs abPointPairs;
   for (const Point3Pair &baPair : baPointPairs) {
diff --git a/gtsam/geometry/Pose3.h b/gtsam/geometry/Pose3.h
index 01980d7af..c36047349 100644
--- a/gtsam/geometry/Pose3.h
+++ b/gtsam/geometry/Pose3.h
@@ -85,6 +85,9 @@ public:
    */
   static boost::optional<Pose3> Align(const std::vector<Point3Pair>& abPointPairs);
 
+  // Version of Pose3::Align that takes 2 matrices.
+  static boost::optional<Pose3> Align(const Matrix& a, const Matrix& b);
+
   /// @}
   /// @name Testable
   /// @{
diff --git a/gtsam/geometry/geometry.i b/gtsam/geometry/geometry.i
index 0fa931dcf..6a0f1d3ad 100644
--- a/gtsam/geometry/geometry.i
+++ b/gtsam/geometry/geometry.i
@@ -431,6 +431,9 @@ class Pose3 {
   Pose3(const gtsam::Pose2& pose2);
   Pose3(Matrix mat);
 
+  static boost::optional<gtsam::Pose3> Align(const gtsam::Point3Pairs& abPointPairs);
+  static boost::optional<gtsam::Pose3> Align(const gtsam::Matrix& a, const gtsam::Matrix& b);
+
   // Testable
   void print(string s = "") const;
   bool equals(const gtsam::Pose3& pose, double tol) const;
diff --git a/python/gtsam/tests/test_Pose3.py b/python/gtsam/tests/test_Pose3.py
index cf96cbadb..c37b95c79 100644
--- a/python/gtsam/tests/test_Pose3.py
+++ b/python/gtsam/tests/test_Pose3.py
@@ -102,6 +102,24 @@ class TestPose3(GtsamTestCase):
         actual.deserialize(serialized)
         self.gtsamAssertEquals(expected, actual, 1e-10)
 
+    def test_align_squares(self):
+        """Test if Align method can align 2 squares."""
+        square = np.array([[0,0,0],[0,1,0],[1,1,0],[1,0,0]], float).T
+        sTt = Pose3(Rot3.Rodrigues(0, 0, -math.pi), Point3(2, 4, 0))
+        transformed = sTt.transformTo(square)
+
+        st_pairs = Point3Pairs()
+        for j in range(4):
+            st_pairs.append((square[:,j], transformed[:,j]))
+
+        # Recover the transformation sTt
+        estimated_sTt = Pose3.Align(st_pairs)
+        self.gtsamAssertEquals(estimated_sTt, sTt, 1e-10)
+
+        # Matrix version
+        estimated_sTt = Pose3.Align(square, transformed)
+        self.gtsamAssertEquals(estimated_sTt, sTt, 1e-10)
+
 
 if __name__ == "__main__":
     unittest.main()