diff --git a/cmake/GtsamCythonWrap.cmake b/cmake/GtsamCythonWrap.cmake
index 3ca8b903f..361038ce0 100644
--- a/cmake/GtsamCythonWrap.cmake
+++ b/cmake/GtsamCythonWrap.cmake
@@ -280,9 +280,16 @@ function(install_cython_files source_files dest_directory)
 endfunction()
 
 function(install_python_package install_path)
-  set(package_path "${install_path}${GTSAM_BUILD_TAG}")
-  # set cython directory permissions to user so we don't get permission denied
-  install(CODE "execute_process(COMMAND sh \"-c\" \"chown -R $(logname):$(logname) ${package_path}\")")
-  # go to cython directory and run setup.py
-  install(CODE "execute_process(COMMAND sh \"-c\" \"cd ${package_path} && python setup.py install\")")
+#TODO this will only work for Linux. Need to make it work on macOS and Windows as well
+#TODO Running `sudo make install` makes this run in admin space causing Python 2.7 to be picked up.
+  # # go to cython directory and run setup.py
+  # install(CODE "execute_process(COMMAND sh \"-c\" \"cd ${package_path} && python setup.py install\")")
+  if(CMAKE_SYSTEM_NAME STREQUAL "Windows")
+    set(PYTHON_INSTALL_SCRIPT "install.bat")
+  elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+    set(PYTHON_INSTALL_SCRIPT "install.sh")
+  endif()
+
+  configure_file(${PROJECT_SOURCE_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT} ${PROJECT_BINARY_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT})
+  add_custom_target(python-install "${PROJECT_BINARY_DIR}/cython/scripts/${PYTHON_INSTALL_SCRIPT}")
 endfunction()
diff --git a/cython/CMakeLists.txt b/cython/CMakeLists.txt
index 96503b82f..638bdfb2d 100644
--- a/cython/CMakeLists.txt
+++ b/cython/CMakeLists.txt
@@ -45,6 +45,9 @@ if (GTSAM_INSTALL_CYTHON_TOOLBOX)
   install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py")
   install_cython_scripts("${PROJECT_SOURCE_DIR}/cython/gtsam_unstable" "${GTSAM_CYTHON_INSTALL_PATH}" "*.py")
 
+  # file(GLOB GTSAM_PYTHON_INSTALL_SCRIPTS "scripts/*")
+  # file(COPY ${GTSAM_PYTHON_INSTALL_SCRIPTS} DESTINATION ${PROJECT_BINARY_DIR}/cython/scripts)
+
   install_python_package("${GTSAM_CYTHON_INSTALL_PATH}")
 
 endif ()
diff --git a/cython/scripts/install.bat b/cython/scripts/install.bat
new file mode 100755
index 000000000..e69de29bb
diff --git a/cython/scripts/install.sh b/cython/scripts/install.sh
new file mode 100755
index 000000000..04759ca5e
--- /dev/null
+++ b/cython/scripts/install.sh
@@ -0,0 +1,21 @@
+#!/bin/sh
+echo "Installing GTSAM Python Wrapper"
+
+PACKAGE_PATH=${GTSAM_CYTHON_INSTALL_PATH}${GTSAM_BUILD_TAG}
+
+if [ ! -d "$PACKAGE_PATH" ]
+then 
+    echo "Directory $PACKAGE_PATH DOES NOT exist. Please run 'make install' first.";
+    exit 1;
+fi
+
+# set cython directory permissions to user so we don't get permission denied
+if [ "$(whoami)" != "root" ]
+then
+    sudo chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH}
+else
+    chown -R $(logname) ${GTSAM_CYTHON_INSTALL_PATH}
+fi
+
+echo "Running setup.py in $PACKAGE_PATH"
+${PYTHON_EXECUTABLE} $PACKAGE_PATH/setup.py install