diff --git a/CMakeLists.txt b/CMakeLists.txt
index b8e560e7a..031b9f96c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,3 +97,19 @@ endif(GTSAM_BUILD_WRAP)
 if (GTSAM_BUILD_EXAMPLES)
     add_subdirectory(examples)
 endif(GTSAM_BUILD_EXAMPLES)
+
+# Set up CPack
+set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "GTSAM")
+set(CPACK_PACKAGE_VENDOR "Frank Dellaert, Georgia Institute of Technology")
+set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_CURRENT_SOURCE_DIR}/README")
+set(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_CURRENT_SOURCE_DIR}/LICENSE")
+set(CPACK_PACKAGE_VERSION_MAJOR ${GTSAM_VERSION_MAJOR})
+set(CPACK_PACKAGE_VERSION_MINOR ${GTSAM_VERSION_MINOR})
+set(CPACK_PACKAGE_VERSION_PATCH ${GTSAM_VERSION_PATCH})
+set(CPACK_PACKAGE_INSTALL_DIRECTORY "CMake ${CMake_VERSION_MAJOR}.${CMake_VERSION_MINOR}")
+set(CPACK_INSTALLED_DIRECTORIES "doc" ".") # Include doc directory
+set(CPACK_SOURCE_IGNORE_FILES "/build;/\\\\.;/makedoc.sh$")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "gtsam-${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}")
+set(CPACK_SOURCE_GENERATOR "TGZ")
+set(CPACK_GENERATOR "TGZ")
+include(CPack)