diff --git a/CHANGELOG.md b/CHANGELOG.md
index c8a36ade..cfc0e080 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,17 @@ documented here.
 
 This project adheres to [Semantic Versioning](https://semver.org/).
 
+## [0.24.0]
+
+### Added
+* The `DualQuaternion` type. It is still work-in-progress but the basics are here:
+  creation from its real and dual part, multiplication of two dual quaternions,
+  and normalization.
+  
+### Removed
+* There is no blanket `impl<T> PartialEq for Unit<T>` any more. Instead, it is
+  implemented specifically for `UnitComplex`, `UnitQuaternion` and `Unit<Vector>`.
+
 ## [0.23.2]
 In this release, we improved the documentation of some of the geometric types
 by applying changes similar to what we did in the version 0.23.1 for matrices.
diff --git a/Cargo.toml b/Cargo.toml
index ae3b3378..615942a8 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra"
-version = "0.23.2"
+version = "0.24.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 
 description = "Linear algebra library with transformations and statically-sized or dynamically-sized matrices."
diff --git a/nalgebra-glm/Cargo.toml b/nalgebra-glm/Cargo.toml
index f4e12f8e..6cbf7ab7 100644
--- a/nalgebra-glm/Cargo.toml
+++ b/nalgebra-glm/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name = "nalgebra-glm"
-version = "0.9.0"
+version = "0.10.0"
 authors = ["sebcrozet <developer@crozet.re>"]
 
 description = "A computer-graphics oriented API for nalgebra, inspired by the C++ GLM library."
@@ -25,4 +25,4 @@ abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
 num-traits = { version = "0.2", default-features = false }
 approx = { version = "0.4", default-features = false }
 simba = { version = "0.3", default-features = false }
-nalgebra = { path =  "..", version = "0.23", default-features = false }
+nalgebra = { path =  "..", version = "0.24", default-features = false }
diff --git a/nalgebra-lapack/Cargo.toml b/nalgebra-lapack/Cargo.toml
index e70359cc..1ea68287 100644
--- a/nalgebra-lapack/Cargo.toml
+++ b/nalgebra-lapack/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "nalgebra-lapack"
-version = "0.14.0"
+version = "0.15.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>", "Andrew Straw <strawman@astraw.com>" ]
 
 description   = "Linear algebra library with transformations and satically-sized or dynamically-sized matrices."
@@ -23,7 +23,7 @@ accelerate = ["lapack-src/accelerate"]
 intel-mkl  = ["lapack-src/intel-mkl"]
 
 [dependencies]
-nalgebra      = { version = "0.22" } # , path = ".." }
+nalgebra      = { version = "0.24", path = ".." }
 num-traits    = "0.2"
 num-complex   = { version = "0.2", default-features = false }
 simba         = "0.2"
@@ -34,7 +34,7 @@ lapack-src    = { version = "0.5", default-features = false }
 # clippy = "*"
 
 [dev-dependencies]
-nalgebra   = { version = "0.22", features = [ "arbitrary" ] } # path = ".." }
+nalgebra   = { version = "0.24", features = [ "arbitrary" ], path = ".." }
 quickcheck = "0.9"
 approx     = "0.3"
 rand       = "0.7"