SUMMARYA desirable property trellis-coded modulation (TCM) should have the invariance to rotations of the signal constellation by symmetry angles. Two methods are known to provide rotational invariance: one is that of the parity-check equation and other is that of bijective functions defined on the set of states of the sequence encoder. Whilst both approaches express different facets of the same reality, we emphasize in this letter the greater usefulness of the second one and demonstrate fully rotationally invariant TCM for 2D 16-phase shift keying (PSK) using an algebraic group of 16 bijective functions, which seems not possible to design otherwise, since a rate 3/4 parity-check equation is not mathematically tractable. The design methodology, we demonstrate, is general and does not exclude combining the two methods when performing computer searches for good TCM codes.