diff --git a/cpp/BayesTree-inl.h b/cpp/BayesTree-inl.h
index f845797f4..d2b5db148 100644
--- a/cpp/BayesTree-inl.h
+++ b/cpp/BayesTree-inl.h
@@ -262,6 +262,20 @@ namespace gtsam {
 				equal(nodes_.begin(),nodes_.end(),other.nodes_.begin(),check_pair<Conditional>);
 	}
 
+	/* ************************************************************************* */
+	template<class Conditional>
+	Symbol BayesTree<Conditional>::findParentClique(const list<Symbol>& parents, const list<Symbol>& ordering) const {
+		Symbol parent;
+		for (list<Symbol>::const_iterator it = ordering.begin(); it!=ordering.end(); it++) {
+			list<Symbol>::const_iterator pit = find(parents.begin(), parents.end(), *it);
+			if (pit!=parents.end()) {
+				parent = *pit;
+				break;
+			}
+		}
+		return parent;
+	}
+
 	/* ************************************************************************* */
 	template<class Conditional>
 	void BayesTree<Conditional>::insert(const sharedConditional& conditional, const list<Symbol>* ordering)
@@ -281,13 +295,7 @@ namespace gtsam {
 		if (!ordering) {
 			parent = parents.front(); // assumes parents are in current variable order, which is not the case (after COLAMD was activated)
 		} else {
-			for (list<Symbol>::const_iterator it = ordering->begin(); it!=ordering->end(); it++) {
-				list<Symbol>::iterator pit = find(parents.begin(), parents.end(), *it);
-				if (pit!=parents.end()) {
-					parent = *pit;
-					break;
-				}
-			}
+			parent = findParentClique(parents, *ordering);
 		}
 		sharedClique parent_clique = (*this)[parent];
 
diff --git a/cpp/BayesTree.h b/cpp/BayesTree.h
index 52305f9c2..aeb0533a0 100644
--- a/cpp/BayesTree.h
+++ b/cpp/BayesTree.h
@@ -128,6 +128,9 @@ namespace gtsam {
 		/** check equality */
 		bool equals(const BayesTree<Conditional>& other, double tol = 1e-9) const;
 
+		/** find parent clique of a conditional, given an ordering */
+		Symbol findParentClique(const std::list<Symbol>& parents, const std::list<Symbol>& ordering) const;
+
 		/** insert a new conditional */
 		void insert(const sharedConditional& conditional, const std::list<Symbol>* ordering = NULL);
 
diff --git a/cpp/ISAM2-inl.h b/cpp/ISAM2-inl.h
index 4ddaaf9b8..5da4a479e 100644
--- a/cpp/ISAM2-inl.h
+++ b/cpp/ISAM2-inl.h
@@ -126,7 +126,7 @@ namespace gtsam {
 		FactorGraph<GaussianFactor> affectedFactors;
 		list<Symbol> newFactorsKeys = newFactors.keys();
 
-#if 0
+#if 1
 
 		// relinearize all keys that are in newFactors, and already exist (not new variables!)
 		list<Symbol> keysToRelinearize;
@@ -237,7 +237,8 @@ namespace gtsam {
 		// add orphans to the bottom of the new tree
 		BOOST_FOREACH(sharedClique orphan, orphans) {
 
-		  Symbol key = orphan->separator_.front();
+//		  Symbol key = orphan->separator_.front();
+			Symbol key = findParentClique(orphan->separator_, ordering);
 			sharedClique parent = (*this)[key];
 
 			parent->children_ += orphan;