A frequency-resolved optical gating (FROG) technique that combines autocorrelation (second-harmonic-generation FROG, SHG-FROG) and cross correlation FROG (XFROG) is reported for simultaneous characterization of two unknown optical pulses. Two SHG-FROG signals and a XFROG signal are acquired in a single measurement using a single diagnostic system. Unlike the conventional combination of SHG-FROG for reference-pulse characterization and XFROG for test-pulse characterization, the ambiguity in the direction of time in SHG-FROG is removed during phase retrieval by simultaneously analyzing the three FROG signals. Furthermore, overall characterization is faster, more robust, and highly convergent than the conventional combination of SHG-FROG and XFROG techniques.