Full Holonomic control of colloidal particles is achieved by combining mostly rotational magnetic manipulation with translational manipulation by holographic optical tweezers (HOT) in a single integrated setup shown in the Figure. This allows us to define arbitrary positions and orientations of individual and multiple particles of interest. The HOT is built using a fiber laser operating at 1064 nm with output powers of up to 10 W. The trapping beam passes through a polarizer (P), two lenses (L1, L2) forming a telescope used to re-size the beam diameter to slightly overfill the active area of a computer controlled, dynamically addressable LC-based Spatial Light Modulator (SLM), which generates a dynamic phase mask that creates and controls optical traps at a refresh rate of up to 20 Hz. The trapping beam is directed to the back aperture of a 100× NA=1.42 oil immersion objective via two lenses (L3, L4), linearly polarized by a half wave plate and polarizer and fed into the microscope by reflection from a dichroic mirror. Imaging is done through a combination of conventional polarizing microscopy and nonlinear optical imaging that can operate in both reflection and transmission modes, with reflection mode being the primary configuration when implementing full three-axis holonomic manipulation.