The paper presents a method to smoothly interpolate a given sequence of solid orientations using circular blending quaternion curves. Given three solid orientations, a circular quaternion curve is constructed that interpolates the three orientations. Therefore, given four orientations q i − 1 , q i , q i + 1 , q i + 2 , there are two circular quaternion curves C i and C i + 1 which interpolate the triples of orientations ( q i − 1 , q i , q i + 1 ) and ( q i , q i + 1 , q i + 2 ), respectively; thus, both C i and C i + 1 interpolate the two orientations q i and q i + 1 . Using a method similar to the parabolic blending of Overhauser, quaternion curve Q i ( t) is generated which interpolates two orientations q i and q i + 1 while smoothly blending the two circular quaternion curves C i ( t) and C i + 1 ( t) with a blending function f( t) of degree (2 k − 1). The quaternion curve Q i has the same derivatives (up to order k) with C i at q i and with C i + 1 at q i + 1 , respectively. By connecting the quaternion curve segments Q i in a connected sequence, a C k -continuous quaternion path is generated which smoothly interpolates a given sequence of solid orientations.