In this paper, we extend a simultaneous untangling and smoothing technique previously developed for triangular and tetrahedral meshes to quadrilateral and hexahedral ones. Specifically, we present a technique that iteratively untangles and smooths a given quadrilateral or hexahedral mesh by minimizing an objective function defined in terms of a modification of an algebraic quality measure. The proposed method optimizes the mesh quality by a local node relocation process. That is, without modifying the mesh connectivity. Finally, we present several examples to show that the proposed technique obtains valid meshes composed by high-quality quadrilaterals and hexahedra, even when we start from tangled meshes.