diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 6b750a4..89a12ca 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package mcl_3dl
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+0.6.3 (2024-07-22)
+------------------
 * Explicitly handle zero sigma (`#414 <https://github.com/at-wat/mcl_3dl/issues/414>`_)
 * Update assets to v0.6.4 (`#413 <https://github.com/at-wat/mcl_3dl/issues/413>`_)
 * Update assets to v0.6.3 (`#412 <https://github.com/at-wat/mcl_3dl/issues/412>`_)
diff --git a/package.xml b/package.xml
index 976a29f..a1b1838 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>mcl_3dl</name>
-  <version>0.6.2</version>
+  <version>0.6.3</version>
   <description>3-D/6-DOF localization for mobile robots with 3-D LIDAR(s)</description>
 
   <maintainer email="atsushi.w@ieee.org">Atsushi Watanabe</maintainer>