Replace a PDF at Rev C with a SW Drawing at rev D

We currently have a PDF version of a drawing done with pencil at Rev C in the vault. We want to revise it, by redrawing it in SolidWorks, and then making the necessary revisions. I would like to keep it as one entry in the vault; is there a way to do this? To replace a PDF with a SLDDRW? We will probably want to do this with DWG files, too. Thanks.

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