diff --git a/pkgs/by-name/nd/ndcurves/package.nix b/pkgs/by-name/nd/ndcurves/package.nix
new file mode 100644
index 000000000000..cc58991bb325
--- /dev/null
+++ b/pkgs/by-name/nd/ndcurves/package.nix
@@ -0,0 +1,73 @@
+{
+  cmake,
+  doxygen,
+  fetchFromGitHub,
+  jrl-cmakemodules,
+  lib,
+  pinocchio,
+  pkg-config,
+  python3Packages,
+  pythonSupport ? false,
+  stdenv,
+}:
+
+stdenv.mkDerivation (finalAttrs: {
+  pname = "ndcurves";
+  version = "1.4.1";
+
+  src = fetchFromGitHub {
+    owner = "loco-3d";
+    repo = "ndcurves";
+    rev = "v${finalAttrs.version}";
+    hash = "sha256-XJ3VSSGKSJ+x3jc4408PGHTYg3nC7o/EeFnbKBELefs=";
+  };
+
+  outputs = [
+    "out"
+    "doc"
+  ];
+
+  strictDeps = true;
+
+  nativeBuildInputs =
+    [
+      cmake
+      doxygen
+      pkg-config
+    ]
+    ++ lib.optionals pythonSupport [
+      python3Packages.python
+      python3Packages.pythonImportsCheckHook
+    ];
+  propagatedBuildInputs =
+    [ jrl-cmakemodules ]
+    ++ lib.optionals pythonSupport [
+      python3Packages.eigenpy
+      python3Packages.pinocchio
+    ]
+    ++ lib.optional (!pythonSupport) pinocchio;
+
+  cmakeFlags =
+    [
+      (lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
+      (lib.cmakeBool "CURVES_WITH_PINOCCHIO_SUPPORT" true)
+    ]
+    ++ lib.optional stdenv.hostPlatform.isAarch64 (
+      lib.cmakeFeature "CMAKE_CTEST_ARGUMENTS" "--exclude-regex;'curves_tests|python-curves'"
+    )
+    ++ lib.optional (stdenv.hostPlatform.isDarwin && stdenv.hostPlatform.isx86_64) (
+      lib.cmakeFeature "CMAKE_CTEST_ARGUMENTS" "--exclude-regex;'test-so3-smooth'"
+    );
+
+  doCheck = true;
+
+  pythonImportsCheck = [ "ndcurves" ];
+
+  meta = {
+    description = "Library for creating smooth cubic splines";
+    homepage = "https://github.com/loco-3d/ndcurves";
+    license = lib.licenses.bsd2;
+    maintainers = [ lib.maintainers.nim65s ];
+    platforms = lib.platforms.unix;
+  };
+})
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index ba43430e48c1..b4429cfa2792 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -8962,6 +8962,8 @@ self: super: with self; {
 
   natural = callPackage ../development/python-modules/natural { };
 
+  ndcurves = toPythonModule (pkgs.ndcurves.override { python3Packages = self; pythonSupport = true; });
+
   nomadnet = callPackage ../development/python-modules/nomadnet { };
 
   noneprompt = callPackage ../development/python-modules/noneprompt {  };