diff --git a/basic-geometry/dual-quaternion.c b/basic-geometry/dual-quaternion.c
index ab14d0f..659394e 100644
--- a/basic-geometry/dual-quaternion.c
+++ b/basic-geometry/dual-quaternion.c
@@ -18,6 +18,12 @@ extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quat
 extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion);
 extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion);
 
+extern inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion);
+extern inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion);
+
+extern inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse, const BGC_FP32_DualQuaternion* quaternion);
+extern inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse, const BGC_FP64_DualQuaternion* quaternion);
+
 extern inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion);
 extern inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* quaternion);
 
diff --git a/basic-geometry/dual-quaternion.h b/basic-geometry/dual-quaternion.h
index 4c9450d..36f008a 100644
--- a/basic-geometry/dual-quaternion.h
+++ b/basic-geometry/dual-quaternion.h
@@ -88,6 +88,74 @@ inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* revers
     bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
 }
 
+// =================== Invert =================== //
+
+inline int bgc_fp32_dual_quaternion_invert(BGC_FP32_DualQuaternion* quaternion)
+{
+    if (bgc_fp32_quaternion_get_inverse(&quaternion->real_part, &quaternion->real_part) !== BGC_SUCCESS) {
+        return BGC_FAILURE;
+    }
+
+    BGC_FP32_Quaternion temporary;
+
+    bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
+    bgc_fp32_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
+
+    bgc_fp32_quaternion_revert(&quaternion->dual_part);
+
+    return BGC_SUCCESS;
+}
+
+inline int bgc_fp64_dual_quaternion_invert(BGC_FP64_DualQuaternion* quaternion)
+{
+    if (bgc_fp64_quaternion_get_inverse(&quaternion->real_part, &quaternion->real_part) !== BGC_SUCCESS) {
+        return BGC_FAILURE;
+    }
+
+    BGC_FP64_Quaternion temporary;
+
+    bgc_fp64_quaternion_multiply_by_quaternion(&temporary, &quaternion->real_part, &quaternion->dual_part);
+    bgc_fp64_quaternion_multiply_by_quaternion(&quaternion->dual_part, &temporary, &quaternion->real_part);
+
+    bgc_fp64_quaternion_revert(&quaternion->dual_part);
+
+    return BGC_SUCCESS;
+}
+
+// ================ Get Inverse ================= //
+
+inline int bgc_fp32_dual_quaternion_get_inverse(BGC_FP32_DualQuaternion* inverse, const BGC_FP32_DualQuaternion* quaternion)
+{
+    if (bgc_fp32_quaternion_get_inverse(&inverse->real_part, &quaternion->real_part) !== BGC_SUCCESS) {
+        return BGC_FAILURE;
+    }
+
+    BGC_FP32_Quaternion temporary;
+
+    bgc_fp32_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
+    bgc_fp32_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
+
+    bgc_fp32_quaternion_revert(&inverse->dual_part);
+
+    return BGC_SUCCESS;
+}
+
+inline int bgc_fp64_dual_quaternion_get_inverse(BGC_FP64_DualQuaternion* inverse, const BGC_FP64_DualQuaternion* quaternion)
+{
+    if (bgc_fp64_quaternion_get_inverse(&inverse->real_part, &quaternion->real_part) !== BGC_SUCCESS) {
+        return BGC_FAILURE;
+    }
+
+    BGC_FP64_Quaternion temporary;
+
+    bgc_fp64_quaternion_multiply_by_quaternion(&temporary, &inverse->real_part, &quaternion->dual_part);
+    bgc_fp64_quaternion_multiply_by_quaternion(&inverse->dual_part, &temporary, &inverse->real_part);
+
+    bgc_fp64_quaternion_revert(&inverse->dual_part);
+
+    return BGC_SUCCESS;
+}
+
 // ============ Component Conjugate ============= //
 
 inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion)
@@ -132,13 +200,13 @@ inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* qua
 
 inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
 {
-    bgc_fp32_quaternion_copy(&conjugate->real_part, &quaternion->dual_part);
+    bgc_fp32_quaternion_copy(&conjugate->real_part, &quaternion->real_part);
     bgc_fp32_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
 }
 
 inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
 {
-    bgc_fp64_quaternion_copy(&conjugate->real_part, &quaternion->dual_part);
+    bgc_fp64_quaternion_copy(&conjugate->real_part, &quaternion->real_part);
     bgc_fp64_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
 }