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Full-body tracking in virtual reality improves presence, allows interaction via body postures, and facilitates better social expression among users. However, full-body tracking systems today require a complex setup fixed to the environment (e.g., multiple lighthouses/cameras) and a laborious calibration process, which goes against the desire to make VR systems more portable and integrated. We present HybridTrak, which provides accurate, real-time full-body tracking by augmenting inside-out1 upper-body VR tracking systems with a single external off-the-shelf RGB web camera. HybridTrak uses a full-neural solution to convert and transform users’ 2D full-body poses from the webcam to 3D poses leveraging the inside-out upper-body tracking data. We showed HybridTrak is more accurate than RGB or depth-based tracking methods on the MPI-INF-3DHP dataset. We also tested HybridTrak in the popular VRChat app and showed that body postures presented by HybridTrak are more distinguishable and more natural than a solution using an RGBD camera.