k-submodular functions, introduced by Huber and Kolmogorov, are functions defined on {0, 1, 2, . . . , k} n satisfying certain submodular-type inequalities. k-submodular functions typically arise as relaxations of NP-hard problems, and the relaxations by k-submodular functions play key roles in design of efficient, approximation, or fixed-parameter tractable algorithms. Motivated by this, we consider the following problem: Given a function f : {1, 2, . . . , k} n → R∪{+∞}, determine whether f can be extended to a k-submodular function g : {0, 1, 2, . . . , k} n → R ∪ {+∞}, where g is called a k-submodular relaxation of f , i.e., the restriction of g on {1, 2, . . . , k} n is equal to f . We give a characterization, in terms of polymorphisms, of the functions which admit a k-submodular relaxation, and also give a combinatorial O((k n ) 2 )-time algorithm to find a k-submodular relaxation or establish that a k-submodular relaxation does not exist. Our algorithm has interesting properties: (1) If the input function is integer valued, then our algorithm outputs a half-integral relaxation, and (2) if the input function is binary, then our algorithm outputs the unique optimal relaxation. We present applications of our algorithm to valued constraint satisfaction problems.