diff --git a/gtsam/discrete/DecisionTree.h b/gtsam/discrete/DecisionTree.h
index 7c8d2742d..105da7394 100644
--- a/gtsam/discrete/DecisionTree.h
+++ b/gtsam/discrete/DecisionTree.h
@@ -393,6 +393,13 @@ namespace gtsam {
       return DecisionTree(newRoot);
     }
 
+    /** Choose multiple values. */
+    DecisionTree restrict(const Assignment<L>& assignment) const {
+      NodePtr newRoot = root_;
+      for (const auto& [l, v] : assignment) newRoot = newRoot->choose(l, v);
+      return DecisionTree(newRoot);
+    }
+
     /** combine subtrees on key with binary operation "op" */
     DecisionTree combine(const L& label, size_t cardinality,
                          const Binary& op) const;
diff --git a/gtsam/discrete/tests/testDecisionTree.cpp b/gtsam/discrete/tests/testDecisionTree.cpp
index c664fe6b5..ab2f318b7 100644
--- a/gtsam/discrete/tests/testDecisionTree.cpp
+++ b/gtsam/discrete/tests/testDecisionTree.cpp
@@ -228,9 +228,9 @@ TEST(DecisionTree, Example) {
   // Test choose 0
   DT actual0 = notba.choose(A, 0);
 #ifdef GTSAM_DT_MERGING
-  EXPECT(assert_equal(DT(0.0), actual0));
+  EXPECT(assert_equal(DT(0), actual0));
 #else
-  EXPECT(assert_equal(DT({0.0, 0.0}), actual0));
+  EXPECT(assert_equal(DT(B, 0, 0), actual0));
 #endif
   DOT(actual0);
 
@@ -618,6 +618,21 @@ TEST(DecisionTree, ApplyWithAssignment) {
 #endif
 }
 
+/* ************************************************************************** */
+// Test apply with assignment.
+TEST(DecisionTree, Restrict) {
+  // Create three level tree
+  const vector<DT::LabelC> keys{DT::LabelC("C", 2), DT::LabelC("B", 2),
+                                DT::LabelC("A", 2)};
+  DT tree(keys, "1 2 3 4 5 6 7 8");
+
+  DT restrictedTree = tree.restrict({{"A", 0}, {"B", 1}});
+  EXPECT(assert_equal(DT({DT::LabelC("C", 2)}, "3 7"), restrictedTree));
+
+  DT restrictMore = tree.restrict({{"A", 1}, {"B", 1}, {"C", 1}});
+  EXPECT(assert_equal(DT(8), restrictMore));
+}
+
 /* ************************************************************************* */
 int main() {
   TestResult tr;