Dynamic phase modulation is vital for tunable focusing, beaming, polarization conversion and holography. However, it remains challenging to achieve full 360∘ dynamic phase modulation while maintaining high reflectance or transmittance based on metamaterials or metasurfaces in the terahertz regime. Here we propose a doubly resonant graphene-metal hybrid metasurface to address this challenge. Simulation results show that by varying the graphene Fermi energy, the proposed metasurface with two shifting resonances is capable to provide dynamic phase modulation covering a range of 361∘ while maintaining relatively high reflectance above 20% at 1.05 THz. Based on the phase profile design, dynamically tunable beam steering and focusing are numerically demonstrated. We expect this work will advance the engineering of graphene metasurfaces for the dynamic manipulation of terahertz waves.