diff --git a/CMakeLists.txt b/CMakeLists.txt
index bb025a4d..9e357867 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -83,6 +83,7 @@ write_basic_package_version_file(
 configure_package_config_file("${cmake_conf_file}.cmake.in"
   "${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_file}.cmake"
   INSTALL_DESTINATION ${CMAKE_CONFIG_INSTALL_DIR}
+  PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
 )
 install(FILES
   "${CMAKE_CURRENT_BINARY_DIR}/${cmake_conf_file}.cmake"
diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
index 2905cdfa..6a2667b3 100644
--- a/cmake/urdfdom-config.cmake.in
+++ b/cmake/urdfdom-config.cmake.in
@@ -8,16 +8,16 @@ set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
 set(CMAKE_MODULE_PATH_BACKUP_URDFDOM ${CMAKE_MODULE_PATH})
 list(APPEND CMAKE_MODULE_PATH "${@PROJECT_NAME@_DIR}")
 
-set(@PKG_NAME@_INCLUDE_DIRS "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_INCLUDEDIR@")
+set(@PKG_NAME@_INCLUDE_DIRS "@PACKAGE_INSTALL_INCLUDEDIR@")
 
 foreach(lib @PKG_LIBRARIES@)
   set(onelib "${lib}-NOTFOUND")
   set(onelibd "${lib}-NOTFOUND")
   find_library(onelib ${lib}
-    PATHS "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_LIBDIR@"
+    PATHS "@PACKAGE_INSTALL_LIBDIR@"
     NO_DEFAULT_PATH)
   find_library(onelibd ${lib}d
-    PATHS "${PACKAGE_PREFIX_DIR}/@CMAKE_INSTALL_LIBDIR@"
+    PATHS "@PACKAGE_INSTALL_LIBDIR@"
     NO_DEFAULT_PATH)
   if(onelib-NOTFOUND AND onelibd-NOTFOUND)
     message(FATAL_ERROR "Library '${lib}' in package @PKG_NAME@ is not installed properly")