diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 1378b9f4..d184d0f7 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -273,6 +273,22 @@ if(SIMULATE_BUILD_EXECUTABLE)
       )
     endif()
 
+    if(NOT MUJOCO_SIMULATE_USE_SYSTEM_GLFW)
+      # We downloaded GLFW. Depending if it is a static or shared LIBRARY we might
+      # need to install it.
+      get_target_property(MJ_GLFW_LIBRARY_TYPE glfw TYPE)
+      if(MJ_GLFW_LIBRARY_TYPE STREQUAL SHARED_LIBRARY)
+        install(
+          TARGETS glfw
+          EXPORT ${PROJECT_NAME}
+          RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT simulate
+          LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
+          ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT simulate
+          PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} COMPONENT simulate
+        )
+      endif()
+    endif()
+    
     install(
       TARGETS simulate
       EXPORT ${PROJECT_NAME}