This paper performs the velocity analysis of a 6-DOF hybrid manipulator with two modules, which have a parallel architecture. The first module is a 4-DOF Delta-type mechanism, whose moving platform has three translational and one rotational DOFs. The second module is a 2-DOF rotary mechanism with a circular rail. First, the article considers the inverse kinematics of the manipulator. It provides a closed-from solution to this problem that allows computing displacements in the actuated joints for the specified relative position and orientation of the modules. The velocity analysis follows next and shows how to find the relations between the speeds in these joints and the relative linear and angular velocities of the modules. During this analysis, three singular configurations are determined, where the manipulator loses DOFs. The proposed relations are validated with a numerical example.