diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6131ca35f71d3..7efb04fe1b132 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
 ## DART 6
 
+### [DART 6.9.4 (2020-08-30)](https://github.com/dartsim/dart/milestone/62?closed=1)
+
+* Build
+
+  * Added support new if() IN_LIST operator in DARTConfig.cmake (6.9 backport): [#1494](https://github.com/dartsim/dart/pull/1494)
+
 ### [DART 6.9.3 (2020-08-26)](https://github.com/dartsim/dart/milestone/61?closed=1)
 
 * Dynamics
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e2c925ec8b2b6..6f39c235a4f6f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,7 +61,7 @@ endif()
 # If you change the version, please update the <version> tag in package.xml.
 set(DART_MAJOR_VERSION "6")
 set(DART_MINOR_VERSION "9")
-set(DART_PATCH_VERSION "3")
+set(DART_PATCH_VERSION "4")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp, boost")
diff --git a/package.xml b/package.xml
index 85aec55205ca6..41b98cca53e22 100644
--- a/package.xml
+++ b/package.xml
@@ -4,7 +4,7 @@
        a Catkin workspace. Catkin is not required to build DART. For more
        information, see: http://ros.org/reps/rep-0136.html -->
   <name>dartsim</name>
-  <version>6.9.3</version>
+  <version>6.9.4</version>
   <description>
     DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
     cross-platform, open source library created by the Georgia Tech Graphics