diff --git a/CMakeLists.txt b/CMakeLists.txt
index f455711..aa01ed6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,7 +18,7 @@ add_library(fast_forward_kinematics_header INTERFACE)
 target_include_directories(
   fast_forward_kinematics_header
   INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-            $<INSTALL_INTERFACE:include>)
+            $<INSTALL_INTERFACE:include/fast_forward_kinematics>)
 if(BUILD_TESTING)
   add_subdirectory(test)
 endif()
@@ -56,4 +56,4 @@ export(EXPORT fast_forward_kinematicsTargets
 install(
   EXPORT fast_forward_kinematicsTargets
   FILE fast_forward_kinematics-targets.cmake
-  DESTINATION lib/cmake/fast_forward_kinematics)
+  DESTINATION "${CMAKE_INSTALL_DATADIR}/fast_forward_kinematics/cmake")
diff --git a/fast_forward_kinematics-config.cmake.in b/fast_forward_kinematics-config.cmake.in
index 4bedc3f..2c95213 100644
--- a/fast_forward_kinematics-config.cmake.in
+++ b/fast_forward_kinematics-config.cmake.in
@@ -5,7 +5,6 @@ set(FFK_VERSION_MINOR @FFK_VERSION_MINOR@)
 set(FFK_VERSION @FFK_VERSION@)
 
 set(fast_forward_kinematics_FOUND ON)
-set_and_check(fast_forward_kinematics_INCLUDE_DIRS "@PACKAGE_CMAKE_INSTALL_INCLUDEDIR@")
 
 include("${CMAKE_CURRENT_LIST_DIR}/fast_forward_kinematics-targets.cmake")
-include("${CMAKE_CURRENT_LIST_DIR}/cmake/fast_forward_kinematics.cmake")
+include("${CMAKE_CURRENT_LIST_DIR}/fast_forward_kinematics.cmake")