diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4b8f3529af45ea4647b52bf972ea4419b1c06c88..eaa31273a100a2344da1ec8ed30cb873e030df39 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -101,6 +101,7 @@ set(${PROJECT_NAME}_SOURCES
 add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
 target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
 target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include/qrw>)
+set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH "\$ORIGIN")
 
 # Include Eigen3 directories
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 7ae6e048d53830656660ef370037264a8b7fbe61..0ad40cf886abe4a986b8f4b07a8fb8783125d6fa 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -5,7 +5,9 @@ set(${PY_NAME}_SOURCES
 add_library(${PY_NAME} SHARED ${${PY_NAME}_SOURCES})
 target_link_libraries(${PY_NAME} PUBLIC ${PROJECT_NAME} ${PYTHON_LIBRARY} eigenpy::eigenpy)
 target_include_directories(${PY_NAME} SYSTEM PRIVATE ${PYTHON_INCLUDE_DIRS})
-set_target_properties(${PY_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PY_NAME})
+set_target_properties(${PY_NAME} PROPERTIES 
+	LIBRARY_OUTPUT_DIRECTORY ${PY_NAME}
+	INSTALL_RPATH "\$ORIGIN/../../../..")
 TARGET_LINK_BOOST_PYTHON(${PY_NAME} PUBLIC)
 install(TARGETS ${PY_NAME} DESTINATION ${${PY_NAME}_INSTALL_DIR})