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We present $H$-band observations of $\beta$ Pic with the Gemini PlanetImager's (GPI's) polarimetry mode that reveal the debris disk between ~0.3" (~6AU) and ~1.7" (~33 AU), while simultaneously detecting $\beta$ Pic $b$. Thepolarized disk image was fit with a dust density model combined with aHenyey-Greenstein scattering phase function. The best fit model indicates adisk inclined to the line of sight ($\phi=85.27{\deg}^{+0.26}_{-0.19}$) with aposition angle $\theta_{PA}=30.35{\deg}^{+0.29}_{-0.28}$ (slightly offset fromthe main outer disk, $\theta_{PA}\approx29{\deg}$), that extends from an innerdisk radius of $23.6^{+0.9}_{-0.6}$ AU to well outside GPI's field of view. Inaddition, we present an updated orbit for $\beta$ Pic $b$ based on newastrometric measurements taken in GPI's spectroscopic mode spanning 14 months.The planet has a semi-major axis of $a=9.2^{+1.5}_{-0.4}$AU, with aneccentricity $e\leq 0.26$. The position angle of the ascending node is$\Omega=31.75{\deg}\pm0.15$, offset from both the outer main disk and the innerdisk seen in the GPI image. The orbital fit constrains the stellar mass of$\beta$ Pic to $1.60\pm0.05 M_{\odot}$. Dynamical sculpting by $\beta$ Pic $b$cannot easily account for the following three aspects of the inferred diskproperties: 1) the modeled inner radius of the disk is farther out thanexpected if caused by $\beta$ Pic b; 2) the mutual inclination of the innerdisk and $\beta$ Pic $b$ is $4{\deg}$, when it is expected to be closer tozero; and 3) the aspect ratio of the disk ($h_0 = 0.137^{+0.005}_{-0.006}$) islarger than expected from interactions with $\beta$ Pic $b$ or self-stirring bythe disk's parent bodies.

$\beta$ Pictoris' inner disk in polarized light and new orbital parameters for $\beta$ Pictoris b