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Existing studies in dialogue system research mostly treat task-oriented dialogue and chit-chat as separate domains. Towards building a human-like assistant that can converse naturally and seamlessly with users, it is important to build a dialogue system that conducts both types of conversations effectively. In this work, we investigate how task-oriented dialogue and knowledge-grounded chit-chat can be effectively integrated into a single model. To this end, we create a new dataset, KETOD (Knowledge-Enriched Task-Oriented Dialogue), where we naturally enrich task-oriented dialogues with chit-chat based on relevant entity knowledge. We also propose two new models, SimpleToDPlus and Combiner, for the proposed task. Experimental results on both automatic and human evaluations show that the proposed methods can significantly improve the performance in knowledge-enriched response generation while maintaining a competitive task-oriented dialog performance. We believe our new dataset will be a valuable resource for future studies. Our dataset and code are publicly available at \url{https://github.com/facebookresearch/ketod}.