diff --git a/dvc/commands/update.py b/dvc/commands/update.py
index fcf9243f4..ce5446d41 100644
--- a/dvc/commands/update.py
+++ b/dvc/commands/update.py
@@ -31,7 +31,8 @@ class CmdUpdate(CmdBase):
 def add_parser(subparsers, parent_parser):
     UPDATE_HELP = (
         "Update data artifact imported (via dvc import or dvc import-url) "
-        "from an external DVC repository or URL."
+        "from an external DVC repository or URL, or update data from a "
+        "DVC worktree remote."
     )
     update_parser = subparsers.add_parser(
         "update",
diff --git a/dvc/repo/update.py b/dvc/repo/update.py
index 9c620a0ca..17e19fbf2 100644
--- a/dvc/repo/update.py
+++ b/dvc/repo/update.py
@@ -1,7 +1,13 @@
+from typing import TYPE_CHECKING, List
+
 from dvc.exceptions import InvalidArgumentError
+from dvc.stage.exceptions import StageUpdateError
 
 from . import locked
 
+if TYPE_CHECKING:
+    from dvc.repo.stage import StageInfo
+
 
 @locked
 def update(
@@ -15,6 +21,7 @@ def update(
     jobs=None,
 ):
     from ..dvcfile import Dvcfile
+    from .worktree import update_worktree_stages
 
     if not targets:
         targets = [None]
@@ -28,15 +35,21 @@ def update(
         )
 
     if not to_remote and remote:
-        raise InvalidArgumentError(
-            "--remote can't be used without --to-remote"
-        )
+        if not self.cloud.get_remote(name=remote).worktree:
+            raise InvalidArgumentError(
+                "--remote can't be used without --to-remote"
+            )
 
-    stages = set()
-    for target in targets:
-        stages.update(self.stage.collect(target, recursive=recursive))
+    import_stages = set()
+    other_stage_infos: List["StageInfo"] = []
 
-    for stage in stages:
+    for stage_info in self.index.collect_targets(targets, recursive=recursive):
+        if stage_info.stage.is_import:
+            import_stages.add(stage_info.stage)
+        else:
+            other_stage_infos.append(stage_info)
+
+    for stage in import_stages:
         stage.update(
             rev,
             to_remote=to_remote,
@@ -47,4 +60,17 @@ def update(
         dvcfile = Dvcfile(self, stage.path)
         dvcfile.dump(stage)
 
+    if other_stage_infos:
+        remote_obj = self.cloud.get_remote(name=remote)
+        if not remote_obj.worktree:
+            raise StageUpdateError(other_stage_infos[0].stage.relpath)
+        update_worktree_stages(
+            self,
+            other_stage_infos,
+            remote_obj,
+        )
+
+    stages = import_stages | {
+        stage_info.stage for stage_info in other_stage_infos
+    }
     return list(stages)