diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index 37cadf4..bd29874 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -6,13 +6,7 @@ if(NOT DART_BUILD_DARTPY)
 endif()
 
 # Set up pybind11
-include(FetchContent)
-FetchContent_Declare(
-  pybind11
-  GIT_REPOSITORY https://github.com/pybind/pybind11
-  GIT_TAG v2.12.0
-)
-FetchContent_MakeAvailable(pybind11)
+find_package(pybind11 CONFIG)
 
 if(NOT pybind11_FOUND)
   message(WARNING "Disabling [dartpy] due to missing pybind11 >= 2.2.0.")
@@ -22,9 +16,6 @@ endif()
 set(DART_DARTPY_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}/dartpy")
 
 add_subdirectory(dartpy)
-add_subdirectory(tests)
-add_subdirectory(examples)
-add_subdirectory(tutorials)
 
 message(STATUS "")
 message(STATUS "[ dartpy ]")
diff --git a/python/dartpy/CMakeLists.txt b/python/dartpy/CMakeLists.txt
index b316e86..d33c16f 100644
--- a/python/dartpy/CMakeLists.txt
+++ b/python/dartpy/CMakeLists.txt
@@ -6,12 +6,7 @@
 #
 # This file is provided under the "BSD-style" License
 
-execute_process(COMMAND ${Python3_EXECUTABLE} -c
-  "from distutils.sysconfig import get_python_lib;\
-  print(get_python_lib(plat_specific=True))"
-  OUTPUT_VARIABLE PYTHON_SITE_PACKAGES
-  OUTPUT_STRIP_TRAILING_WHITESPACE
-)
+set(PYTHON_SITE_PACKAGES "lib/site-packages")
 if(NOT IS_ABSOLUTE ${PYTHON_SITE_PACKAGES})
   set(PYTHON_SITE_PACKAGES "${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE_PACKAGES}")
 endif()
@@ -29,7 +24,6 @@ set(pybind_module dartpy)
 #
 pybind11_add_module(${pybind_module}
   MODULE
-  EXCLUDE_FROM_ALL
   ${dartpy_headers}
   ${dartpy_sources}
 )
@@ -91,9 +85,9 @@ endif()
 
 # TODO: Fix installing dartpy to site-packages directory
 # Install the pybind module to site-packages directory
-# install(TARGETS ${pybind_module}
-#   LIBRARY DESTINATION "${PYTHON_SITE_PACKAGES}"
-# )
+install(TARGETS ${pybind_module}
+  LIBRARY DESTINATION "${PYTHON_SITE_PACKAGES}"
+)
 
 list(REMOVE_ITEM dartpy_headers
   ${CMAKE_CURRENT_LIST_DIR}/eigen_geometry_pybind.h