We propose a scheme to construct the efficient universal quantum circuit for qubit systems with the assistance of possibly available auxiliary Hilbert spaces. An elementary two-ququart gate, termed the controlled-double-NOT gate, is proposed first in ququart (four-level) systems, and its physical implementation is illustrated in the four-dimensional Hilbert spaces built by the path and polarization states of photons. Then an efficient universal quantum circuit for ququart systems is constructed using the gate and the quantum Shannon decomposition method. By introducing auxiliary two-dimensional Hilbert spaces, the universal quantum circuit for qubit systems is finally achieved using the result obtained in ququart systems with the lowest complexity.