diff --git a/.github/workflows/all.yml b/.github/workflows/all.yml
index 0d941b7a..28dc7285 100644
--- a/.github/workflows/all.yml
+++ b/.github/workflows/all.yml
@@ -249,12 +249,8 @@ jobs:
       - name: Install CMake (Ubuntu)
         if: matrix.os == 'ubuntu-latest'
         run: sudo apt-get install -y cmake
-      - name: Configure CMake
-        run: cmake .
-      - name: Build with CMake
-        run: make
-      - name: Run Tests (if any)
-        run: cat Makefile
+      - name: Run tests
+        run: make test
 
   build-python-wheels:
     needs: [run-python-tests, run-python-tests-with-address-sanitizer]
diff --git a/.gitignore b/.gitignore
index 329081d5..f5287bce 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
 *.egg-info/
-build/
+*/build/*
+!build/.gitkeep
 dist/
 tmp/
 __pycache__/
@@ -26,6 +27,7 @@ CMakeFiles
 CMakeScripts
 Testing
 Makefile
+!cpp/Makefile
 cmake_install.cmake
 install_manifest.txt
 compile_commands.json
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index c06e7e97..2ef187e9 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -67,8 +67,7 @@ To build the C++ library with `cmake`, use the following commands:
 ```shell
 cd cpp
 git submodule update --init --recursive
-cmake .
-make
+make build
 ```
 
 ## Testing
@@ -114,8 +113,6 @@ To run the C++ tests, use the following commands:
 ```shell
 cd cpp
 git submodule update --init --recursive
-cmake .
-make
 make test
 ```
 
diff --git a/cpp/CMakeLists.txt b/cpp/CMakeLists.txt
index 7a4607bf..4208d3eb 100644
--- a/cpp/CMakeLists.txt
+++ b/cpp/CMakeLists.txt
@@ -16,6 +16,8 @@ if (MSVC)
     string(REGEX REPLACE "/RTC1" "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
 endif()
 
+enable_testing()
+
 add_subdirectory(include)
 add_subdirectory(src)
 add_subdirectory(test)
@@ -37,4 +39,3 @@ add_custom_target(format
     COMMENT "Running C++ formatter"
 )
 
-enable_testing()
diff --git a/cpp/Makefile b/cpp/Makefile
new file mode 100644
index 00000000..02c3ab16
--- /dev/null
+++ b/cpp/Makefile
@@ -0,0 +1,15 @@
+default_target: build
+
+BUILD_DIR := build
+
+cmake:
+	cmake -S . -B $(BUILD_DIR)
+
+build: cmake
+	cmake --build ${BUILD_DIR}
+
+test: build
+	cmake --build ${BUILD_DIR} --target test
+
+clean:
+	rm -rf ${BUILD_DIR}/*
\ No newline at end of file
diff --git a/cpp/build/.gitkeep b/cpp/build/.gitkeep
new file mode 100644
index 00000000..e69de29b
diff --git a/cpp/test/CMakeLists.txt b/cpp/test/CMakeLists.txt
index c5598640..adde8751 100644
--- a/cpp/test/CMakeLists.txt
+++ b/cpp/test/CMakeLists.txt
@@ -15,3 +15,7 @@ target_link_libraries(VoyagerTests
 
 # Add the tests
 add_test(NAME VoyagerTests COMMAND VoyagerTests)
+
+# Discover tests using Doctest
+include(${CMAKE_SOURCE_DIR}/include/doctest/scripts/cmake/doctest.cmake)
+doctest_discover_tests(VoyagerTests)