Optical trapping allows the trapping and manipulation of dielectric microparticles. However, full control over all six degrees of freedom of the trapped object is challenging. Here, we use ferromagnetic iron-doped upconversion microparticles for simultaneous optical trapping and magnetic micromanipulation that allows full control over all translational and rotational degrees of freedom. These microparticles have a low absorption that allows optical trapping and a high coercivity and saturation magnetization that allow magnetic manipulation. The particles will enable micromanipulation experiments, for example, in single-molecule biophysics.