This paper proposes an approach to find graceful transitions between periodic orbits of hybrid systems. Our method involves formulating an optimization problem that captures the notion of a graceful transition. Solution of the optimization problem will yield open loop trajectories that achieve graceful transitions between two distinct orbits. This is illustrated on two example nonlinear hybrid systems: A 1D hopper jumping in the vertical direction on granular media and a 2D planar jumper jumping in the vertical and horizontal direction on springy terrain.