diff --git a/CMakeLists.txt b/CMakeLists.txt
index ebfe8ec8f..b797d984f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -175,6 +175,9 @@ set ( EIGEN_VERSION_STRING ${EIGEN_VERSION_NUMBER} )
 set ( EIGEN_VERSION_MAJOR  ${EIGEN_WORLD_VERSION} )
 set ( EIGEN_VERSION_MINOR  ${EIGEN_MAJOR_VERSION} )
 set ( EIGEN_VERSION_PATCH  ${EIGEN_MINOR_VERSION} )
+set ( EIGEN_DEFINITIONS "")
+set ( EIGEN_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INCLUDE_INSTALL_DIR}" )
+set ( EIGEN_ROOT_DIR ${CMAKE_INSTALL_PREFIX} )
 
 # Alias Eigen_*_DIR to Eigen3_*_DIR:
 set(Eigen_SOURCE_DIR ${Eigen3_SOURCE_DIR})
@@ -215,6 +218,7 @@ if(EIGEN_BUILD_CMAKE_PACKAGE)
   configure_package_config_file (
     ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Eigen3Config.cmake.in
     ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake
+    PATH_VARS EIGEN_INCLUDE_DIR EIGEN_ROOT_DIR
     INSTALL_DESTINATION ${CMAKEPACKAGE_INSTALL_DIR}
     NO_SET_AND_CHECK_MACRO # Eigen does not provide legacy style defines
     NO_CHECK_REQUIRED_COMPONENTS_MACRO # Eigen does not provide components
@@ -249,7 +253,8 @@ if(EIGEN_BUILD_CMAKE_PACKAGE)
 
   install (EXPORT Eigen3Targets NAMESPACE Eigen3:: DESTINATION ${CMAKEPACKAGE_INSTALL_DIR})
 
-  install (FILES ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake
+  install (FILES ${CMAKE_CURRENT_SOURCE_DIR}/cmake/UseEigen3.cmake
+                ${CMAKE_CURRENT_BINARY_DIR}/Eigen3Config.cmake
                 ${CMAKE_CURRENT_BINARY_DIR}/Eigen3ConfigVersion.cmake
           DESTINATION ${CMAKEPACKAGE_INSTALL_DIR})
 
diff --git a/cmake/UseEigen3.cmake b/cmake/UseEigen3.cmake
index a38bac82d..d392bd344 100644
--- a/cmake/UseEigen3.cmake
+++ b/cmake/UseEigen3.cmake
@@ -1,6 +1,20 @@
 #                                               -*- cmake -*-
 #
 #  UseEigen3.cmake
+#
+#  ----------------------------------------------------------------------
+#  This file provides legacy support for including Eigen in CMake.
+#  The modern and preferred way is to use:
+#
+#      find_package (Eigen3 3.4 REQUIRED NO_MODULE)
+#      add_executable (example example.cpp)
+#      target_link_libraries (example Eigen3::Eigen)
+#
+#  Use the commands below only if you must maintain compatibility
+#  with older CMake/Eigen projects.
+#  For more information: 
+#  https://libeigen.gitlab.io/eigen/docs-3.4/TopicCMakeGuide.html
+#  ----------------------------------------------------------------------
 
 add_definitions     ( ${EIGEN3_DEFINITIONS} )
 include_directories ( ${EIGEN3_INCLUDE_DIRS} )