diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 4efe7c87..da8b52a0 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -39,7 +39,7 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    2a9055b50ed22101da7d77e999b90ed50956fe0b
+    33d0937c6bdf5ec999939fb17f2a553183d14a74
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 480865d4..8999a62f 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  2a9055b50ed22101da7d77e999b90ed50956fe0b
+  33d0937c6bdf5ec999939fb17f2a553183d14a74
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL
@@ -191,7 +191,7 @@ findorfetch(
   GIT_REPO
   https://github.com/pybind/pybind11
   GIT_TAG
-  3e9dfa2866941655c56877882565e7577de6fc7b # v2.12.0
+  941f45bcb51457884fa1afd6e24a67377d70f75c # v2.13.1
   TARGETS
   pybind11::pybind11_headers
   EXCLUDE_FROM_ALL